相关论文: Nav-EE: Navigation-Guided Early Exiting for Effici…

The rapid growth of ego-centric dashcam footage presents a major challenge for detecting safety-critical events such as collisions and near-collisions, scenarios that are brief, rare, and difficult for generic vision models to capture.…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

The autonomous driving community is increasingly focused on addressing the challenges posed by out-of-distribution (OOD) driving scenarios. A dominant research trend seeks to enhance end-to-end (E2E) driving systems by integrating…

Lane topology extraction involves detecting lanes and traffic elements and determining their relationships, a key perception task for mapless autonomous driving. This task requires complex reasoning, such as determining whether it is…

Recent advancements in Multimodal Large Language Models (MLLMs) have demonstrated satisfactory performance across various vision-language tasks. Current approaches for vision and language interaction fall into two categories:…

Vision-and-language navigation (VLN) stands as a key research problem of Embodied AI, aiming at enabling agents to navigate in unseen environments following linguistic instructions. In this field, generalization is a long-standing…

Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…

Large Language Models (LLMs) and Vision-Language Models (VLMs) have emerged as promising candidates for end-to-end autonomous driving. However, these models typically face challenges in inference latency, action precision, and…

The need to recognise long-term dependencies in sequential data such as video streams has made Long Short-Term Memory (LSTM) networks a prominent Artificial Intelligence model for many emerging applications. However, the high computational…

Deploying Vision-Language Models (VLMs) on edge devices remains challenging due to their substantial computational and memory demands, which exceed the capabilities of resource-constrained embedded platforms. Conversely, fully offloading…

Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operate under strict constraints on computation, memory, energy,…

Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

Autonomous driving has made significant strides through data-driven techniques, achieving robust performance in standardized tasks. However, existing methods frequently overlook user-specific preferences, offering limited scope for…

Motivated by the emergent reasoning capabilities of Vision Language Models (VLMs) and their potential to improve the comprehensibility of autonomous driving systems, this paper introduces a closed-loop autonomous driving controller called…

Vision-Language Models (VLMs) have recently shown remarkable progress in multimodal reasoning, yet their applications in autonomous driving remain limited. In particular, the ability to understand road topology, a key requirement for safe…

Vision-and-Language Navigation in Continuous Environments (VLN-CE), which links language instructions to perception and control in the real world, is a core capability of embodied robots. Recently, large-scale pretrained foundation models…

Recent advances in Transformer-based large language models (LLMs) have led to significant performance improvements across many tasks. These gains come with a drastic increase in the models' size, potentially leading to slow and costly use…

In this paper, we propose Patience-based Early Exit, a straightforward yet effective inference method that can be used as a plug-and-play technique to simultaneously improve the efficiency and robustness of a pretrained language model…

Large Language Models (LLMs) have made substantial advancements in the field of robotic and autonomous driving. This study presents the first Occupancy-based Large Language Model (Occ-LLM), which represents a pioneering effort to integrate…

Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions. Despite significant progress in large Vision-Language…