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

The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…

Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…

In recent years, 2D Vision-Language Models (VLMs) have made significant strides in image-text understanding tasks. However, their performance in 3D spatial comprehension, which is critical for embodied intelligence, remains limited. Recent…

End-to-end autonomous driving planners typically generate trajectories from current observations alone. However, real-world driving is highly dynamic, and such reactive planning cannot anticipate future scene evolution, often leading 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…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit…

Engineering design optimization requires an efficient combination of a 3D shape representation, an optimization algorithm, and a design performance evaluation method, which is often computationally expensive. We present a prompt evolution…

Embodied Vision-Language Models (VLMs) have demonstrated impressive performance and generalization in robotics, particularly within Vision-Language-Action frameworks. However, a significant gap remains between the high-level semantic focus…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

In recent years, end-to-end autonomous driving frameworks have been shown to not only enhance perception performance but also improve planning capabilities. However, most previous end-to-end autonomous driving frameworks have focused…

We present a simple yet effective approach that can transform the OpenAI GPT-3.5 model into a reliable motion planner for autonomous vehicles. Motion planning is a core challenge in autonomous driving, aiming to plan a driving trajectory…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

End-to-end autonomous driving requires models to understand traffic scenes, infer driving intent, and generate executable motion plans. Recent vision-language-action (VLA) models inherit semantic priors from large-scale vision-language…

We propose GGS, a Generalizable Gaussian Splatting method for Autonomous Driving which can achieve realistic rendering under large viewpoint changes. Previous generalizable 3D gaussian splatting methods are limited to rendering novel views…

Recent Large Vision-Language Models (LVLMs) demonstrate remarkable capabilities in image understanding and natural language generation. However, current approaches focus predominantly on global image understanding, struggling to simulate…

Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observed 3D environments, motivating map representations that aggregate spatial context beyond local perception. However, most existing…