相关论文: BEV-LLM: Leveraging Multimodal BEV Maps for Scene …

Semantic map construction under bird's-eye view (BEV) plays an essential role in autonomous driving. In contrast to camera image, LiDAR provides the accurate 3D observations to project the captured 3D features onto BEV space inherently.…

Vision-language navigation (VLN), which entails an agent to navigate 3D environments following human instructions, has shown great advances. However, current agents are built upon panoramic observations, which hinders their ability to…

Perception systems in modern autonomous driving vehicles typically take inputs from complementary multi-modal sensors, e.g., LiDAR and cameras. However, in real-world applications, sensor corruptions and failures lead to inferior…

Vehicle-to-everything (V2X) cooperation has emerged as a promising paradigm to overcome the perception limitations of classical autonomous driving by leveraging information from both ego-vehicle and infrastructure sensors. However,…

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…

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps.…

Recent advancements in open-source Visual Language Models (VLMs) such as LLaVA, Qwen-VL, and Llama have catalyzed extensive research on their integration with diverse systems. The internet-scale general knowledge encapsulated within these…

Vision-Language Models (VLMs) have demonstrated significant potential for end-to-end autonomous driving. However, the field still lacks a practical platform that enables dynamic model updates, rapid validation, fair comparison, and…

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…

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…

Bird's-eye-view (BEV) representations play a crucial role in autonomous driving tasks. Despite recent advancements in BEV generation, inherent noise, stemming from sensor limitations and the learning process, remains largely unaddressed,…

We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and…

Vision-Language Models (VLMs) and Multi-Modal Language models (MMLMs) have become prominent in autonomous driving research, as these models can provide interpretable textual reasoning and responses for end-to-end autonomous driving safety…

Understanding road geometry is a critical component of the autonomous vehicle (AV) stack. While high-definition (HD) maps can readily provide such information, they suffer from high labeling and maintenance costs. Accordingly, many recent…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

While current visual captioning models have achieved impressive performance, they often assume that the image is well-captured and provides a complete view of the scene. In real-world scenarios, however, a single image may not offer a good…

Vision-Language Models (VLMs) are increasingly proposed for autonomous driving tasks, yet their performance on sequential driving scenes remains poorly characterized, particularly regarding how input configurations affect their…