相关论文: MTA: Multimodal Task Alignment for BEV Perception …

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

Vision-Language-Action (VLA) models have recently emerged in autonomous driving, with the promise of leveraging rich world knowledge to improve the cognitive capabilities of driving systems. However, adapting such models for driving tasks…

Multi-view cooperative perception and multimodal fusion are essential for reliable 3D spatiotemporal understanding in autonomous driving, especially under occlusions, limited viewpoints, and communication delays in V2X scenarios. This paper…

This study investigates the extent to which the Visual Entailment (VE) task serves as a reliable probe of vision-language understanding in multimodal language models, using the LLaMA 3.2 11B Vision model as a test case. Beyond reporting…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

We present TinyBEV, a unified, camera only Bird's Eye View (BEV) framework that distills the full-stack capabilities of a large planning-oriented teacher (UniAD [19]) into a compact, real-time student model. Unlike prior efficient camera…

Attention models are widely used in Vision-language (V-L) tasks to perform the visual-textual correlation. Humans perform such a correlation with a strong linguistic understanding of the visual world. However, even the best performing…

A semantic map of the road scene, covering fundamental road elements, is an essential ingredient in autonomous driving systems. It provides important perception foundations for positioning and planning when rendered in the Bird's-Eye-View…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Object perception from multi-view cameras is crucial for intelligent systems, particularly in indoor environments, e.g., warehouses, retail stores, and hospitals. Most traditional multi-target multi-camera (MTMC) detection and tracking…

In several real-world scenarios like autonomous navigation and mobility, to obtain a better visual understanding of the surroundings, image captioning and object detection play a crucial role. This work introduces a novel multitask learning…

Perceiving the surrounding environment is a fundamental task in autonomous driving. To obtain highly accurate perception results, modern autonomous driving systems typically employ multi-modal sensors to collect comprehensive environmental…

While multi-modal learning has advanced significantly, current approaches often treat modalities separately, creating inconsistencies in representation and reasoning. We introduce MANTA (Multi-modal Abstraction and Normalization via Textual…

Detecting objects from LiDAR point clouds is of tremendous significance in autonomous driving. In spite of good progress, accurate and reliable 3D detection is yet to be achieved due to the sparsity and irregularity of LiDAR point clouds.…

World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

Temporal modeling is crucial for various video learning tasks. Most recent approaches employ either factorized (2D+1D) or joint (3D) spatial-temporal operations to extract temporal contexts from the input frames. While the former is more…

Autonomous mobile robots deployed in urban environments must be context-aware, i.e., able to distinguish between different semantic entities, and robust to occlusions. Current approaches like semantic scene completion (SSC) require…

We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map quality in areas most relevant for task completion. Given an…

Conversational systems must be robust to user interactions that naturally exhibit diverse conversational traits. Capturing and simulating these diverse traits coherently and efficiently presents a complex challenge. This paper introduces…

Emotion Recognition in Conversations (ERCs) is a vital area within multimodal interaction research, dedicated to accurately identifying and classifying the emotions expressed by speakers throughout a conversation. Traditional ERC approaches…