相关论文: MPDrive: Improving Spatial Understanding with Mark…

Vision-Language Tracking aims to continuously localize objects described by a visual template and a language description. Existing methods, however, are typically limited to local search, making them prone to failures under viewpoint…

Vision Language Models (VLMs) have achieved impressive performance in 2D image understanding, however they are still struggling with spatial understanding which is the foundation of Embodied AI. In this paper, we propose SpatialBot for…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

Recently many multi-label image recognition (MLR) works have made significant progress by introducing pre-trained object detection models to generate lots of proposals or utilizing statistical label co-occurrence enhance the correlation…

Accurate metric depth is critical for autonomous driving perception and simulation, yet current approaches struggle to achieve high metric accuracy, multi-view and temporal consistency, and cross-domain generalization. To address these…

A navigable agent needs to understand both high-level semantic instructions and precise spatial perceptions. Building navigation agents centered on Multimodal Large Language Models (MLLMs) demonstrates a promising solution due to their…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Comprehensive situational awareness is essential for autonomous vehicles operating in safety-critical environments, as it enables the identification and mitigation of potential risks. Although recent Multimodal Large Language Models (MLLMs)…

Traditional approaches to off-road autonomy rely on separate models for terrain classification, height estimation, and quantifying slip or slope conditions. Utilizing several models requires training each component separately, having task…

Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…

Current robot autonomy struggles to operate beyond the assumed Operational Design Domain (ODD), the specific set of conditions and environments in which the system is designed to function, while the real-world is rife with uncertainties…

3D Visual Grounding (3DVG) focuses on locating objects in 3D scenes based on natural language descriptions, serving as a fundamental task for embodied AI and robotics. Recent advances in Multi-modal Large Language Models (MLLMs) have…

In this paper, we present MUVLA, a Map Understanding Vision-Language-Action model tailored for object navigation. It leverages semantic map abstractions to unify and structure historical information, encoding spatial context in a compact…

Vision-Language Models (VLMs) have been applied to autonomous driving to support decision-making in complex real-world scenarios. However, their training on static, web-sourced image-text pairs fundamentally limits the precise…

Autonomous driving heavily relies on accurate and robust spatial perception. Many failures arise from inaccuracies and instability, especially in long-tail scenarios and complex interactions. However, current vision-language models are weak…

The rapid progress of multimodal large language models (MLLM) has paved the way for Vision-Language-Action (VLA) paradigms, which integrate visual perception, natural language understanding, and control within a single policy. Researchers…

A self-driving vehicle must understand its environment to determine the appropriate action. Traditional autonomy systems rely on object detection to find the agents in the scene. However, object detection assumes a discrete set of objects…

Recent advancements in autonomous vehicles (AVs) use Large Language Models (LLMs) to perform well in normal driving scenarios. However, ensuring safety in dynamic, high-risk environments and managing safety-critical long-tail events remain…

Recent advancements in Vision-Language Models (VLMs) have demonstrated strong potential for autonomous driving tasks. However, their spatial understanding and reasoning-key capabilities for autonomous driving-still exhibit significant…

Multimodal large language models (MLLMs), such as GPT-4o, Gemini, LLaVA, and Flamingo, have made significant progress in integrating visual and textual modalities, excelling in tasks like visual question answering (VQA), image captioning,…