相关论文: LOMA: Language-assisted Semantic Occupancy Network…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Multimodal Large Language Models (MLLMs) excel at descriptive tasks within images but often struggle with precise object localization, a critical element for reliable visual interpretation. In contrast, traditional object detection models…

With the growing number and diversity of Vision-Language Models (VLMs), many works explore language-based ensemble, collaboration, and routing techniques across multiple VLMs to improve multi-model reasoning. In contrast, we address the…

Integrating large language models (LLMs) into autonomous driving has attracted significant attention with the hope of improving generalization and explainability. However, existing methods often focus on either driving or vision-language…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

Single-modal object detection tasks often experience performance degradation when encountering diverse scenarios. In contrast, multimodal object detection tasks can offer more comprehensive information about object features by integrating…

Efficient trajectory planning in off-road terrains presents a formidable challenge for autonomous vehicles, often necessitating complex multi-step pipelines. However, traditional approaches exhibit limited adaptability in dynamic…

While Vision-Language-Action (VLA) models have revolutionized autonomous driving by unifying perception and planning, their reliance on explicit textual Chain-of-Thought (CoT) leads to semantic-perceptual decoupling and perceptual-symbolic…

Large language models (LLMs) are increasingly deployed in real-world applications that require careful balancing of multiple, often conflicting, objectives, such as informativeness versus conciseness, or helpfulness versus creativity.…

Multi-object 3D Grounding involves locating 3D boxes based on a given query phrase from a point cloud. It is a challenging and significant task with numerous applications in visual understanding, human-computer interaction, and robotics. To…

Interpretable driver attention prediction is crucial for human-like autonomous driving. However, existing datasets provide only scene-level global gaze rather than fine-grained object-level annotations, inherently failing to support…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Integration of Large Language Models (LLMs) into visual domain tasks, resulting in visual-LLMs (V-LLMs), has enabled exceptional performance in vision-language tasks, particularly for visual question answering (VQA). However, existing…

Mamba-based architectures have shown to be a promising new direction for deep learning models owing to their competitive performance and sub-quadratic deployment speed. However, current Mamba multi-modal large language models (MLLM) are…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Driven by the rapid development of deep learning technology, the YOLO series has set a new benchmark for real-time object detectors. Additionally, transformer-based structures have emerged as the most powerful solution in the field, greatly…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…