相关论文: SCOUT: A Lightweight Framework for Scenario Covera…

Slot filling is one of the critical tasks in modern conversational systems. The majority of existing literature employs supervised learning methods, which require labeled training data for each new domain. Zero-shot learning and weak…

The safe deployment of autonomous driving systems (ADSs) relies on comprehensive testing and evaluation. However, safety-critical scenarios that can effectively expose system vulnerabilities are extremely sparse in the real world. Existing…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Noise and artifacts during computed tomography (CT) scans are a fundamental challenge affecting disease diagnosis. However, current methods either involve excessively long reconstruction times or rely on data-driven models for optimization,…

For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of…

Sparse Perception Models (SPMs) adopt a query-driven paradigm that forgoes explicit dense BEV or volumetric construction, enabling highly efficient computation and accelerated inference. In this paper, we introduce SQS, a novel query-based…

Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D scene understanding is semantic scene completion (SSC), which…

Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…

Comprehensive situational awareness is essential for autonomous vehicles operating in safety-critical environments, as it enables the identification and mitigation of potential risks. Although recent Multimodal Large Language Models (MLLMs)…

Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is…

Laboratories are prone to severe injuries from minor unsafe actions, yet continuous safety monitoring -- beyond mandatory pre-lab safety training -- is limited by human availability. Vision language models (VLMs) offer promise for…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

Learning-based street scene semantic understanding in autonomous driving (AD) has advanced significantly recently, but the performance of the AD model is heavily dependent on the quantity and quality of the annotated training data. However,…

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.…

Advanced Driver Assistance Systems (ADAS) increasingly rely on learning-based perception, yet safety-relevant failures often arise without component malfunction, driven instead by partial observability and semantic ambiguity in how risk is…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…

Spatial awareness is key to enable embodied multimodal AI systems. Yet, without vast amounts of spatial supervision, current Multimodal Large Language Models (MLLMs) struggle at this task. In this paper, we introduce TWIST & SCOUT, a…

Nowadays, navigation and ride-sharing apps have collected numerous images with spatio-temporal data. A core technology for analyzing such images, associated with spatiotemporal information, is Traffic Scene Understanding (TSU), which aims…

Testing and evaluating the safety performance of autonomous vehicles (AVs) is essential before the large-scale deployment. Practically, the number of testing scenarios permissible for a specific AV is severely limited by tight constraints…