相关论文: VisionTrap: Vision-Augmented Trajectory Prediction…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

Traffic cameras are essential in urban areas, playing a crucial role in intelligent transportation systems. Multiple cameras at intersections enhance law enforcement capabilities, traffic management, and pedestrian safety. However,…

Vision-language pre-training (VLP) methods are blossoming recently, and its crucial goal is to jointly learn visual and textual features via a transformer-based architecture, demonstrating promising improvements on a variety of…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

High-definition (HD) mapping tasks, which perform lane detections and predictions, are extremely challenging due to non-ideal conditions such as view occlusions, distant lane visibility, and adverse weather conditions. Those conditions…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Turn-taking is richly multimodal. Predictive turn-taking models (PTTMs) facilitate naturalistic human-robot interaction, yet most rely solely on speech. We introduce MM-VAP, a multimodal PTTM which combines speech with visual cues including…

Autonomous vehicles are expected to drive in complex scenarios with several independent non cooperating agents. Path planning for safely navigating in such environments can not just rely on perceiving present location and motion of other…

Linguistic knowledge has brought great benefits to scene text recognition by providing semantics to refine character sequences. However, since linguistic knowledge has been applied individually on the output sequence, previous methods have…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

End-to-end autonomous driving systems are increasingly integrating Vision-Language Model (VLM) architectures, incorporating text reasoning or visual reasoning to enhance the robustness and accuracy of driving decisions. However, the…

Predicting ego vehicle trajectories remains a critical challenge, especially in urban and dense areas due to the unpredictable behaviours of other vehicles and pedestrians. Multimodal trajectory prediction enhances decision-making by…

Prediction of pedestrian crossing intention is a critical function in autonomous vehicles. Conventional vision-based methods of crossing intention prediction often struggle with generalizability, context understanding, and causal reasoning.…

Human-scene vision-language tasks are increasingly prevalent in diverse social applications, yet recent advancements predominantly rely on models specifically tailored to individual tasks. Emerging research indicates that large…

Pedestrian intention and trajectory prediction are critical for the safe deployment of autonomous driving systems, directly influencing navigation decisions in complex traffic environments. Recent advances in large vision-language models…

We present a method for trajectory planning for autonomous driving, learning image-based context embeddings that align with motion prediction frameworks and planning-based intention input. Within our method, a ViT encoder takes raw images…

This paper addresses motion forecasting in multi-agent environments, pivotal for ensuring safety of autonomous vehicles. Traditional as well as recent data-driven marginal trajectory prediction methods struggle to properly learn non-linear…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…