相关论文: Precise Drive with VLM: First Prize Solution for P…

Despite the promising performance of Large Vision Language Models (LVLMs) in visual understanding, they occasionally generate incorrect outputs. While reward models (RMs) with reinforcement learning or test-time scaling offer the potential…

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to…

Vision-Language Models (VLMs) have demonstrated strong capabilities in multimodal understanding and generation tasks. However, their application to long video understanding remains hindered by the quadratic complexity of standard attention…

In Large Visual Language Models (LVLMs), the efficacy of In-Context Learning (ICL) remains limited by challenges in cross-modal interactions and representation disparities. To overcome these challenges, we introduce a novel Visual…

Addressing hard cases in autonomous driving, such as anomalous road users, extreme weather conditions, and complex traffic interactions, presents significant challenges. To ensure safety, it is crucial to detect and manage these scenarios…

Multimodal large language models (MLLMs) have shown satisfactory effects in many autonomous driving tasks. In this paper, MLLMs are utilized to solve joint semantic scene understanding and risk localization tasks, while only relying on…

In autonomous driving, traditional Computer Vision (CV) agents often struggle in unfamiliar situations due to biases in the training data. Deep Reinforcement Learning (DRL) agents address this by learning from experience and maximizing…

Vision-Language Models (VLMs) have demonstrated strong performance on multimodal reasoning tasks, but their deployment remains challenging due to high inference latency and computational cost, particularly when processing high-resolution…

Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Recent advancements in visual language models (VLMs) have notably enhanced their capabilities in handling complex Graphical User Interface (GUI) interaction tasks. Despite these improvements, current frameworks often struggle to generate…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

Prompt tuning has become a popular strategy for adapting Vision-Language Models (VLMs) to zero/few-shot visual recognition tasks. Some prompting techniques introduce prior knowledge due to its richness, but when learnable tokens are…

With the rise of multimodal applications, instruction data has become critical for training multimodal language models capable of understanding complex image-based queries. Existing practices rely on powerful but costly large language…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

In this work we predict vehicle speed and steering angle given camera image frames. Our key contribution is using an external pre-trained neural network for segmentation. We augment the raw images with their segmentation masks and mirror…

With the increasing attention to pre-trained vision-language models (VLMs), \eg, CLIP, substantial efforts have been devoted to many downstream tasks, especially in test-time adaptation (TTA). However, previous works focus on learning…

Vision-language models (VLMs) have shown strong performance on static visual understanding, yet they still struggle with dynamic spatial reasoning that requires imagining how scenes evolve under egocentric motion. Recent efforts address…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…