相关论文: Towards Physics-informed Spatial Intelligence with…

Not yet. We present SPACE, a benchmark that systematically evaluates spatial cognition in frontier models. Our benchmark builds on decades of research in cognitive science. It evaluates large-scale mapping abilities that are brought to bear…

Vision-language models have recently emerged as promising planners for autonomous driving, where success hinges on topology-aware reasoning over spatial structure and dynamic interactions from multimodal input. However, existing models are…

Spatial Description Resolution, as a language-guided localization task, is proposed for target location in a panoramic street view, given corresponding language descriptions. Explicitly characterizing an object-level relationship while…

Pretraining and fine-tuning have emerged as a new paradigm in remote sensing image interpretation. Among them, Masked Autoencoder (MAE)-based pretraining stands out for its strong capability to learn general feature representations via…

We introduce GSU, a text-only grid dataset to evaluate the spatial reasoning capabilities of LLMs over 3 core tasks: navigation, object localization, and structure composition. By forgoing visual inputs, isolating spatial reasoning from…

Large language models (LLMs) show their powerful automatic reasoning and planning capability with a wealth of semantic knowledge about the human world. However, the grounding problem still hinders the applications of LLMs in the real-world…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

While Vision-Language Models (VLMs) show significant promise for end-to-end autonomous driving by leveraging the common sense embedded in language models, their reliance on 2D image cues for complex scene understanding and decision-making…

Vision Language Models (VLMs) achieve strong performance on many vision-language tasks but often struggle with spatial reasoning$\unicode{x2014}$a prerequisite for many applications. Empirically, we find that a dataset produced by a current…

Synthetic data and novel rendering techniques have greatly influenced computer vision research in tasks like target tracking and human pose estimation. However, robotics research has lagged behind in leveraging it due to the limitations of…

Evidential occupancy grid maps (OGMs) are a popular representation of the environment of automated vehicles. Inverse sensor models (ISMs) are used to compute OGMs from sensor data such as lidar point clouds. Geometric ISMs show a limited…

While Multimodal Large Language Models (MLLMs) excel in semantic tasks, they frequently lack the "spatial sense" essential for sophisticated geometric reasoning. Current models typically suffer from exorbitant modality-alignment costs and…

We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…

Intelligent systems powered by large-scale sensor networks are shifting from predefined monitoring to intent-driven operation, revealing a critical Semantic-to-Physical Mapping Gap. While large language models (LLMs) excel at semantic…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

Most computational accounts of cognitive maps assume that stability is achieved primarily through sensory anchoring, with self-motion contributing to incremental positional updates only. However, biological spatial representations often…

Spatial reasoning remains a fundamental challenge for Vision-Language Models (VLMs), with current approaches struggling to achieve robust performance despite recent advances. We identify that this limitation stems from a critical gap:…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

Semantic segmentation of remote sensing imagery is fundamental to Earth observation. Achieving accurate results requires integrating not only optical images but also physical variables such as the Digital Elevation Model (DEM), Synthetic…