相关论文: City-VLM: Towards Multidomain Perception Scene Und…

Achieving deep alignment between vision and language remains a central challenge for Multimodal Large Language Models (MLLMs). These models often fail to fully leverage visual input, defaulting to strong language priors. Our approach first…

Spatial understanding is essential for Multimodal Large Language Models (MLLMs) to support perception, reasoning, and planning in embodied environments. Despite recent progress, existing studies reveal that MLLMs still struggle with spatial…

The rapid advancement of Large Vision-Language models (LVLMs) has demonstrated a spectrum of emergent capabilities. Nevertheless, current models only focus on the visual content of a single scenario, while their ability to associate…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

Spatial consistency is a fundamental property of the visual world and a key requirement for models that aim to understand physical reality. Despite recent advances, multimodal large language models (MLLMs) often struggle to reason about 3D…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

The event-based Vision-Language Model (VLM) recently has made good progress for practical vision tasks. However, most of these works just utilize CLIP for focusing on traditional perception tasks, which obstruct model understanding…

Understanding the real world through point cloud video is a crucial aspect of robotics and autonomous driving systems. However, prevailing methods for 4D point cloud recognition have limitations due to sensor resolution, which leads to a…

The integration of Large Language Models (LLMs) with computer vision is profoundly transforming perception tasks like image segmentation. For intelligent transportation systems (ITS), where accurate scene understanding is critical for…

Multispectral pedestrian detection is a crucial component in various critical applications. However, a significant challenge arises due to the misalignment between these modalities, particularly under real-world conditions where data often…

We introduce and explore a new multimodal input representation for vision-language models: acoustic field video. Unlike conventional video (RGB with stereo/mono audio), our video stream provides a spatially grounded visualization of sound…

State-of-the-art Vision-Language Models (VLMs) ground the vision and the language modality primarily via projecting the vision tokens from the encoder to language-like tokens, which are directly fed to the Large Language Model (LLM)…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Over the past few years, the advancement of Multimodal Large Language Models (MLLMs) has captured the wide interest of researchers, leading to numerous innovations to enhance MLLMs' comprehension. In this paper, we present AdaptVision, a…

It is a challenging task for visually impaired people to perceive their surrounding environment due to the complexity of the natural scenes. Their personal and social activities are thus highly limited. This paper introduces a Large…

Urban research involves a wide range of scenarios and tasks that require the understanding of multi-modal data. Current methods often focus on specific data types and lack a unified framework in urban field for processing them…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…

Understanding how people read city scenes can inform design and planning. We introduce a small benchmark for testing vision-language models (VLMs) on urban perception using 100 Montreal street images, evenly split between photographs and…

How much scene context a single object carries is a well-studied question in human scene perception, yet how this capacity is organized in vision-language models (VLMs) remains poorly understood, with direct implications for the robustness…

Large Language Models (LLMs) have demonstrated potential in Vision-and-Language Navigation (VLN) tasks, yet current applications face challenges. While LLMs excel in general conversation scenarios, they struggle with specialized navigation…