相关论文: GraphPilot: Grounded Scene Graph Conditioning for …

Methods that use Large Language Models (LLM) as planners for embodied instruction following tasks have become widespread. To successfully complete tasks, the LLM must be grounded in the environment in which the robot operates. One solution…

Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human…

The introduction of automated vehicles without permanent human supervision demands a functional system description, including functional system boundaries and a comprehensive safety analysis. These inputs to the technical development can be…

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…

D scene graphs are an emerging 3D scene representation, that models both the objects present in the scene as well as their relationships. However, learning 3D scene graphs is a challenging task because it requires not only object labels but…

Advancements in generative models have sparked significant interest in generating images while adhering to specific structural guidelines. Scene graph to image generation is one such task of generating images which are consistent with the…

Rich semantic information extraction plays a vital role on next-generation intelligent vehicles. Currently there is great amount of research focusing on fundamental applications such as 6D pose detection, road scene semantic segmentation,…

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…

Generating realistic images from scene graphs asks neural networks to be able to reason about object relationships and compositionality. As a relatively new task, how to properly ensure the generated images comply with scene graphs or how…

Grounding language to visual relations is critical to various language-and-vision applications. In this work, we tackle two fundamental language-and-vision tasks: image-text matching and image captioning, and demonstrate that neural scene…

Multimodal large language models often struggle with faithful reasoning in complex visual scenes, where intricate entities and relations require precise visual grounding at each step. This reasoning unfaithfulness frequently manifests as…

Vision-language-action models have reshaped autonomous driving to incorporate languages into the decision-making process. However, most existing pipelines only utilize the language modality for scene descriptions or reasoning and lack the…

Large language models (LLMs) have achieved remarkable success in text-based tasks but often struggle to provide actionable guidance in real-world physical environments. This is because of their inability to recognize their limited…

Visual knowledge bases such as Visual Genome power numerous applications in computer vision, including visual question answering and captioning, but suffer from sparse, incomplete relationships. All scene graph models to date are limited to…

Scene graph representations, which form a graph of visual object nodes together with their attributes and relations, have proved useful across a variety of vision and language applications. Recent work in the area has used Natural Language…

Scene understanding, defined as learning, extraction, and representation of interactions among traffic elements, is one of the critical challenges toward high-level autonomous driving (AD). Current scene understanding methods mainly focus…

Driving scene parsing is critical for autonomous vehicles to operate reliably in complex real-world traffic environments. To reduce the reliance on costly pixel-level annotations, synthetic datasets with automatically generated labels have…

In this paper, we study the problem of parsing structured knowledge graphs from textual descriptions. In particular, we consider the scene graph representation that considers objects together with their attributes and relations: this…

To maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are…

In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…