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

The advancement of autonomous driving technologies necessitates increasingly sophisticated methods for understanding and predicting real-world scenarios. Vision language models (VLMs) are emerging as revolutionary tools with significant…

Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when observations contain action-correlated distractors, often…

Large vision-language models (LVLMs) have shown remarkable capabilities in interpreting visual content. While existing works demonstrate these models' vulnerability to deliberately placed adversarial texts, such texts are often easily…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

Recognizing the activities causing distraction in real-world driving scenarios is critical for ensuring the safety and reliability of both drivers and pedestrians on the roadways. Conventional computer vision techniques are typically…

In this paper, we propose a novel approach for agent motion prediction in cluttered environments. One of the main challenges in predicting agent motion is accounting for location and context-specific information. Our main contribution is…

We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

Pedestrian trajectory prediction is an essential task in robotic applications such as autonomous driving and robot navigation. State-of-the-art trajectory predictors use a conditional variational autoencoder (CVAE) with recurrent neural…

Procedure planning requires a model to predict a sequence of actions that transform a start visual observation into a goal in instructional videos. While most existing methods rely primarily on visual observations as input, they often…

In this paper, we propose a novel framework for enhancing visual comprehension in autonomous driving systems by integrating visual language models (VLMs) with additional visual perception module specialised in object detection. We extend…

Object-aware reasoning in vision-language tasks poses significant challenges for current models, particularly in handling unseen objects, reducing hallucinations, and capturing fine-grained relationships in complex visual scenes. To address…

Visual object tracking aims to locate a targeted object in a video sequence based on an initial bounding box. Recently, Vision-Language~(VL) trackers have proposed to utilize additional natural language descriptions to enhance versatility…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…

High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for…

Current video generation models produce physically inconsistent motion that violates real-world dynamics. We propose TrajVLM-Gen, a two-stage framework for physics-aware image-to-video generation. First, we employ a Vision Language Model to…

Recently, vision-language joint representation learning has proven to be highly effective in various scenarios. In this paper, we specifically adapt vision-language joint learning for scene text detection, a task that intrinsically involves…

This paper introduces VLAP, a novel approach that bridges pretrained vision models and large language models (LLMs) to make frozen LLMs understand the visual world. VLAP transforms the embedding space of pretrained vision models into the…

This paper proposes a new method, that we call VisualBackProp, for visualizing which sets of pixels of the input image contribute most to the predictions made by the convolutional neural network (CNN). The method heavily hinges on exploring…

Vision-Language Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent goal 6D pose of a target object in a 3D scene. However, we…