相关论文: VisioPath: Vision-Language Enhanced Model Predicti…

Autonomous Driving (AD) encounters significant safety hurdles in long-tail unforeseen driving scenarios, largely stemming from the non-interpretability and poor generalization of the deep neural networks within the AD system, particularly…

With the widespread adoption and deployment of autonomous driving, handling complex environments has become an unavoidable challenge. Due to the scarcity and diversity of extreme scenario datasets, current autonomous driving models struggle…

Vision-language navigation (VLN) requires intelligent agents to navigate environments by interpreting linguistic instructions alongside visual observations, serving as a cornerstone task in Embodied AI. Current VLN research for unmanned…

End-to-end autonomous driving has emerged as a promising paradigm integrating perception, decision-making, and control within a unified learning framework. Recently, Vision-Language Models (VLMs) have gained significant attention for their…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

Vision-Language-Action (VLA)-based driving systems represent a significant paradigm shift in autonomous driving since, by combining traffic scene understanding, linguistic interpretation, and action generation, these systems enable more…

Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…

Vision-language Navigation (VLN) tasks require an agent to navigate step-by-step while perceiving the visual observations and comprehending a natural language instruction. Large data bias, which is caused by the disparity ratio between the…

We introduce a novel self-improving framework that enhances Embodied Visual Tracking (EVT) with Vision-Language Models (VLMs) to address the limitations of current active visual tracking systems in recovering from tracking failure. Our…

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…

Navigating complex, cluttered, and unstructured environments that are a priori unknown presents significant challenges for autonomous ground vehicles, particularly when operating with a limited field of view(FOV) resulting in frequent…

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination…

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…

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…

The rapid growth of autonomous driving datasets has enabled the scaling of powerful motion forecasting models. While large-scale pretraining provides strong performance, the standard imitation objective may not fully capture the complex…

Current Vision-Language Model (VLM)-based end-to-end autonomous driving systems often leverage large language models to generate driving decisions directly based on their understanding of the current scene. However, such systems introduce…