相关论文: Query3D: LLM-Powered Open-Vocabulary Scene Segment…

In recent years, pre-trained large language models (LLMs) have demonstrated remarkable efficiency in achieving an inference-time few-shot learning capability known as in-context learning. However, existing literature has highlighted the…

Dynamic scenes contain intricate spatio-temporal information, crucial for mobile robots, UAVs, and autonomous driving systems to make informed decisions. Parsing these scenes into semantic triplets <Subject-Predicate-Object> for accurate…

Augmenting large language models (LLMs) with external tools has emerged as a promising approach to solving complex problems. However, traditional methods, which finetune LLMs with tool demonstration data, can be both costly and restricted…

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

Open-vocabulary querying in 3D space is crucial for enabling more intelligent perception in applications such as robotics, autonomous systems, and augmented reality. However, most existing methods rely on 2D pixel-level parsing, leading to…

Motion prediction is among the most fundamental tasks in autonomous driving. Traditional methods of motion forecasting primarily encode vector information of maps and historical trajectory data of traffic participants, lacking a…

Generating realistic and controllable traffic scenes from natural language can greatly enhance the development and evaluation of autonomous driving systems. However, this task poses unique challenges: (1) grounding free-form text into…

Generating and editing a 3D scene guided by natural language poses a challenge, primarily due to the complexity of specifying the positional relations and volumetric changes within the 3D space. Recent advancements in Large Language Models…

Large vision-language models (LVLMs) are increasingly deployed in interactive applications such as virtual and augmented reality, where a first-person (egocentric) view captured by head-mounted cameras serves as key input. While this view…

Driving in safety-critical scenarios requires quick, context-aware decision-making grounded in both situational understanding and experiential reasoning. Large Language Models (LLMs), with their powerful general-purpose reasoning…

Egocentric scenes exhibit frequent occlusions, varied viewpoints, and dynamic interactions compared to typical scene understanding tasks. Occlusions and varied viewpoints can lead to multi-view semantic inconsistencies, while dynamic…

Driving World Models (DWMs) have been developing rapidly with the advances of generative models. However, existing DWMs lack 3D scene understanding capabilities and can only generate content conditioned on input data, without the ability to…

Much worldly semantic knowledge can be encoded in large language models (LLMs). Such information could be of great use to robots that want to carry out high-level, temporally extended commands stated in natural language. However, the lack…

Recent advances in leveraging large-scale Internet photo collections for 3D reconstruction have enabled immersive virtual exploration of landmarks and historic sites worldwide. However, little attention has been given to the immersive…

Large Vision-Language Models (LVLMs) have achieved significant progress in tasks like visual question answering and document understanding. However, their potential to comprehend embodied environments and navigate within them remains…

Ensuring the safety and robustness of autonomous driving systems necessitates a comprehensive evaluation in safety-critical scenarios. However, these safety-critical scenarios are rare and difficult to collect from real-world driving data,…

Large language models (LLMs) have shown great promise for capturing contextual information in natural language processing tasks. We propose a novel approach to speaker diarization that incorporates the prowess of LLMs to exploit contextual…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

3D Gaussian Splatting (3DGS) serves as a highly performant and efficient encoding of scene geometry, appearance, and semantics. Moreover, grounding language in 3D scenes has proven to be an effective strategy for 3D scene understanding.…