相关论文: Generative Planning with 3D-vision Language Pre-tr…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Autonomous vehicles necessitate a delicate balance between safety, efficiency, and user preferences in trajectory planning. Existing traditional or learning-based methods face challenges in adequately addressing all these aspects. In…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

In vision-and-language navigation (VLN), an embodied agent is required to navigate in realistic 3D environments following natural language instructions. One major bottleneck for existing VLN approaches is the lack of sufficient training…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…

Interpreting natural-language commands to localize target objects is critical for autonomous driving (AD). Existing visual grounding (VG) methods for autonomous vehicles (AVs) typically struggle with ambiguous, context-dependent…

Continual learning enables pre-trained generative vision-language models (VLMs) to incorporate knowledge from new tasks without retraining data from previous ones. Recent methods update a visual projector to translate visual information for…

The recognition and understanding of traffic incidents, particularly traffic accidents, is a topic of paramount importance in the realm of intelligent transportation systems and intelligent vehicles. This area has continually captured the…

Ensuring safety in autonomous driving systems remains a critical challenge, particularly in handling rare but potentially catastrophic safety-critical scenarios. While existing research has explored generating safety-critical scenarios for…

Vision-Language-Action (VLA) models have emerged as a promising approach for enabling robots to follow language instructions and predict corresponding actions. However, current VLA models mainly rely on 2D visual inputs, neglecting the rich…

Recent advancements in multimodal techniques open exciting possibilities for models excelling in diverse tasks involving text, audio, and image processing. Models like GPT-4V, blending computer vision and language modeling, excel in complex…

Most existing works solving Room-to-Room VLN problem only utilize RGB images and do not consider local context around candidate views, which lack sufficient visual cues about surrounding environment. Moreover, natural language contains…

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative…

In this work, we introduce Vision-Language Generative Pre-trained Transformer (VL-GPT), a transformer model proficient at concurrently perceiving and generating visual and linguistic data. VL-GPT achieves a unified pre-training approach for…

Vision-Language Models (VLMs) have demonstrated significant potential for end-to-end autonomous driving. However, the field still lacks a practical platform that enables dynamic model updates, rapid validation, fair comparison, and…

In recent years, autonomous driving has garnered escalating attention for its potential to relieve drivers' burdens and improve driving safety. Vision-based 3D occupancy prediction, which predicts the spatial occupancy status and semantics…

We introduce Goal-Conditioned Visual Navigation Instruction Generation (GoViG), a new task that aims to generate contextually coherent navigation instructions solely from egocentric visual observations of initial and goal states. Unlike…

Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…