相关论文: A Unified Perception-Language-Action Framework for…

Traffic light perception is an essential component of the camera-based perception system for autonomous vehicles, enabling accurate detection and interpretation of traffic lights to ensure safe navigation through complex urban environments.…

Autonomous vehicle perception typically relies on modular pipelines that decompose the task into detection, tracking, and prediction. While interpretable, these pipelines suffer from error accumulation and limited inter-task synergy.…

Recent research on Large Language Models for autonomous driving shows promise in planning and control. However, high computational demands and hallucinations still challenge accurate trajectory prediction and control signal generation.…

Understanding how Vision-Language-Action (VLA) models transform multimodal knowledge into embodied control remains an open challenge. We present VLA-Trace, a progressive diagnostic framework that analyzes VLA models through a unified…

A principal barrier to large-scale deployment of urban autonomous driving systems lies in the prevalence of complex scenarios and edge cases. Existing systems fail to effectively interpret semantic information within traffic contexts and…

Vision-Language-Action (VLA) models typically map visual observations and linguistic instructions directly to control signals. This "black-box" mapping forces a single forward pass to simultaneously handle instruction interpretation,…

Unmanned underwater vehicles (UUVs) operate persistently in communication-constrained environments, thus requiring high-level autonomous fault-tolerant control under faulty operating conditions. Existing approaches rely heavily on…

Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We…

Vision-language models (VLMs) are vulnerable to adversarial image perturbations. Existing works based on adversarial training against task-specific adversarial examples are computationally expensive and often fail to generalize to unseen…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by cost: billion-scale VLM backbones and iterative diffusion/flow-based action…

Although multi-modal large language models (MLLMs) have shown strong capabilities across diverse domains, their application in generating fine-grained 3D perception and prediction outputs in autonomous driving remains underexplored. In this…

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,…

Recent Vision-Language-Action (VLA) models built on pre-trained Vision-Language Models (VLMs) require extensive post-training, resulting in high computational overhead that limits scalability and deployment.We propose CogVLA, a…

Recently, some studies have integrated Multimodal Large Language Models into robotic manipulation, constructing vision-language-action models (VLAs) to interpret multimodal information and predict SE(3) poses. While VLAs have shown…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Effectively integrating Large Language Models (LLMs) into autonomous driving requires a balance between leveraging high-level reasoning and maintaining real-time efficiency. Existing approaches either activate LLMs too frequently, causing…

The Visual-Language-Action (VLA) models can follow text instructions according to visual observations of the surrounding environment. This ability to map multimodal inputs to actions is derived from the training of the VLA model on…

Vision-Language-Action (VLA) models have demonstrated strong performance in robotic manipulation, yet their closed-loop deployment is hindered by the high latency and compute cost of repeatedly running large vision-language backbones at…

The applications of Vision-Language Models (VLMs) in the field of Autonomous Driving (AD) have attracted widespread attention due to their outstanding performance and the ability to leverage Large Language Models (LLMs). By incorporating…