相关论文: MMP-A*: Multimodal Perception Enhanced Incremental…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…

This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to…

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…

Multimodal Multi-hop question answering requires integrating information from diverse sources, such as images and texts, to derive answers. Existing methods typically rely on sequential retrieval and reasoning, where each step builds on the…

This paper introduces a novel approach to urban pathfinding by transforming traditional heuristic-based algorithms into deep learning models that leverage real-time contextual data, such as traffic and weather conditions. We propose two…

Developing effective path representations has become increasingly essential across various fields within intelligent transportation. Although pre-trained path representation learning models have shown improved performance, they…

In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imagination to ensure efficient and accurate operation. Current…

Aiming at the problems of computational inefficiency and insufficient interpretability faced by large models in complex tasks such as multi-round reasoning and multi-modal collaboration, this study proposes a three-layer collaboration…

Four-wheel Independent Steering (4WIS) vehicles have attracted increasing attention for their superior maneuverability. Human drivers typically choose to cross or drive over the low-profile obstacles (e.g., plastic bags) to efficiently…

Conventional multi-agent path planners typically determine a path that optimizes a single objective, such as path length. Many applications, however, may require multiple objectives, say time-to-completion and fuel use, to be simultaneously…

Multimodal Large Language Models (MLLMs) excel in solving text-based mathematical problems, but they struggle with mathematical diagrams since they are primarily trained on natural scene images. For humans, visual aids generally enhance…

The ability to perform multi-modal multi-hop reasoning by iteratively integrating information across various modalities and external knowledge is critical for addressing complex real-world challenges. However, existing Multi-modal Large…

Combining Large Language Models (LLMs) with heuristic search algorithms like A* holds the promise of enhanced LLM reasoning and scalable inference. To accelerate training and reduce computational demands, we investigate the coreset…

Existing end-to-end autonomous driving models rely heavily on purely data-driven inductive reasoning. This "black-box" nature leads to a lack of interpretability and absolute safety guarantees in complex, long-tail scenarios. To overcome…

Downsampling and path planning are essential in robotics and autonomous systems, as they enhance computational efficiency and enable effective navigation in complex environments. However, current downsampling methods often fail to preserve…

Multimodal large language models (MLLMs) have achieved significant progress in image and language tasks due to the strong reasoning capability of large language models (LLMs). Nevertheless, most MLLMs suffer from limited spatial reasoning…

The Multi-objective Shortest Path (MOSP) problem is a classic network optimization problem that aims to find all Pareto-optimal paths between two points in a graph with multiple edge costs. Recent studies on multi-objective search with A*…

This paper introduces a hierarchical framework that integrates graph search algorithms and model predictive control to facilitate efficient parking maneuvers for Autonomous Vehicles (AVs) in constrained environments. In the high-level…

We investigate the use of Multimodal Large Language Models (MLLMs) with in-context learning for closed-loop task planning in instruction-following manipulation. We identify four essential requirements for successful task planning: quantity…