相关论文: OccLLaMA: An Occupancy-Language-Action Generative …

We introduce OG-VLA, a novel architecture and learning framework that combines the generalization strengths of Vision Language Action models (VLAs) with the robustness of 3D-aware policies. We address the challenge of mapping natural…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…

The autonomous driving industry is increasingly adopting end-to-end learning from sensory inputs to minimize human biases in system design. Traditional end-to-end driving models, however, suffer from long-tail events due to rare or unseen…

In this paper, we propose a novel approach for solving the Visual Question Answering (VQA) task in autonomous driving by integrating Vision-Language Models (VLMs) with continual learning. In autonomous driving, VQA plays a vital role in…

Traditional Reinforcement Learning (RL) suffers from replicating human-like behaviors, generalizing effectively in multi-agent scenarios, and overcoming inherent interpretability issues.These tasks are compounded when deep environment…

Image and language modeling is of crucial importance for vision-language pre-training (VLP), which aims to learn multi-modal representations from large-scale paired image-text data. However, we observe that most existing VLP methods focus…

Autonomous driving heavily relies on accurate and robust spatial perception. Many failures arise from inaccuracies and instability, especially in long-tail scenarios and complex interactions. However, current vision-language models are weak…

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…

Autonomous driving systems face significant challenges in achieving human-like adaptability, robustness, and interpretability in complex, open-world environments. These challenges stem from fragmented architectures, limited generalization…

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we…

Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as \enquote{pick and place}, understanding both what the objects are and where they are located is…

At present, Connected Autonomous Vehicles (CAVs) have begun to open road testing around the world, but their safety and efficiency performance in complex scenarios is still not satisfactory. Cooperative driving leverages the connectivity…

Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained significant attention. By unifying vision, language, and…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

Vision-Language Models (VLMs) have demonstrated notable promise in autonomous driving by offering the potential for multimodal reasoning through pretraining on extensive image-text pairs. However, adapting these models from broad web-scale…

Autonomous driving represents a prominent application of artificial intelligence. Recent approaches have shifted from focusing solely on common scenarios to addressing complex, long-tail situations such as subtle human behaviors, traffic…

Properly defining a reward signal to efficiently train a reinforcement learning (RL) agent is a challenging task. Designing balanced objective functions from which a desired behavior can emerge requires expert knowledge, especially for…

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

Autonomous driving requires generating safe and reliable trajectories from complex multimodal inputs. Traditional modular pipelines separate perception, prediction, and planning, while recent end-to-end (E2E) systems learn them jointly.…