相关论文: CoNav: Collaborative Cross-Modal Reasoning for Emb…

Text-image cross-modal retrieval is a challenging task in the field of language and vision. Most previous approaches independently embed images and sentences into a joint embedding space and compare their similarities. However, previous…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

Modeling the cognitive and experiential factors of human navigation is central to deepening our understanding of human-environment interaction and to enabling safe social navigation and effective assistive wayfinding. Most existing methods…

Audiovisual embodied navigation enables robots to locate audio sources by dynamically integrating visual observations from onboard sensors with the auditory signals emitted by the target. The core challenge lies in effectively leveraging…

Semantic communication has been introduced into collaborative perception systems for autonomous driving, offering a promising approach to enhancing data transmission efficiency and robustness. Despite its potential, existing semantic…

Large unimodal foundation models for vision and language encode rich semantic structures, yet aligning them typically requires computationally intensive multimodal fine-tuning. Such approaches depend on large-scale parameter updates, are…

We propose 3D Congealing, a novel problem of 3D-aware alignment for 2D images capturing semantically similar objects. Given a collection of unlabeled Internet images, our goal is to associate the shared semantic parts from the inputs and…

Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous, and in a single scenario, multiple actions may be equally…

Understanding the geometric and semantic properties of the scene is crucial in autonomous navigation and particularly challenging in the case of Unmanned Aerial Vehicle (UAV) navigation. Such information may be by obtained by estimating…

Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…

Vision-language models enable the understanding and reasoning of complex traffic scenarios through multi-source information fusion, establishing it as a core technology for autonomous driving. However, existing vision-language models are…

Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Multimodal representation alignment is pivotal for large language models and robotics. Traditional methods are often hindered by cross-modal information discrepancies and data scarcity, leading to suboptimal alignment spaces that overlook…

Unsupervised contrastive learning for indoor-scene point clouds has achieved great successes. However, unsupervised learning point clouds in outdoor scenes remains challenging because previous methods need to reconstruct the whole scene and…

Joint audio-visual reasoning is essential for omnimodal understanding, yet current multimodal large language models (MLLMs) still struggle when reasoning requires fine-grained evidence from both modalities. A central limitation is that…

Building cross-modal applications is challenging due to limited paired multi-modal data. Recent works have shown that leveraging a pre-trained multi-modal contrastive representation space enables cross-modal tasks to be learned from…

Small object detection in unmanned aerial vehicle (UAV) imagery is challenging, mainly due to scale variation, structural detail degradation, and limited computational resources. In high-altitude scenarios, fine-grained features are further…

Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and…

With the novel and fast advances in the area of deep neural networks, several challenging image-based tasks have been recently approached by researchers in pattern recognition and computer vision. In this paper, we address one of these…