相关论文: SMc2f: Robust Scenario Mining for Robotic Autonomy…

We propose SlowFast-LLaVA (or SF-LLaVA for short), a training-free video large language model (LLM) that can jointly capture detailed spatial semantics and long-range temporal context without exceeding the token budget of commonly used…

The growing number of ADAS-equipped vehicles has led to a dramatic increase in driving data, yet most of them capture routine driving behavior. Identifying and understanding safety-critical corner cases within this vast dataset remains a…

Autonomous vehicles (AVs) rely on sophisticated perception systems to interpret their surroundings, a cornerstone for safe navigation and decision-making. The integration of Large Language Models (LLMs) into AV perception frameworks offers…

Vision-language models (VLMs) have shown remarkable abilities by integrating large language models with visual inputs. However, they often fail to utilize visual evidence adequately, either depending on linguistic priors in vision-centric…

Multimodal large language models (MLLMs) have shown satisfactory effects in many autonomous driving tasks. In this paper, MLLMs are utilized to solve joint semantic scene understanding and risk localization tasks, while only relying on…

Autonomous driving requires generating safe and reliable trajectories from complex multimodal inputs. Traditional modular pipelines separate perception, prediction, and planning, while recent end-to-end (E2E) systems learn them jointly.…

Autonomous driving systems must operate reliably in safety-critical scenarios, particularly those involving unusual or complex behavior by Vulnerable Road Users (VRUs). Identifying these edge cases in driving datasets is essential for…

Large vision-language models (VLMs) fine-tuned on specialized visual instruction-following data have exhibited impressive language reasoning capabilities across various scenarios. However, this fine-tuning paradigm may not be able to…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Autonomous driving (AD) systems relying solely on onboard sensors may fail to detect distant or obstacle hazards, potentially causing preventable collisions; however, existing transformer-based Vehicle-to-Everything (V2X) approaches, which…

Large Vision-Language Models (VLMs) have demonstrated potential in enhancing mobile robot navigation in human-centric environments by understanding contextual cues, human intentions, and social dynamics while exhibiting reasoning…

The safety and reliability of Automated Driving Systems (ADSs) must be validated prior to large-scale deployment. Among existing validation approaches, scenario-based testing has been regarded as a promising method to improve testing…

The autonomous driving (AD) system has exhibited remarkable performance in complex driving scenarios. However, generalization is still a key limitation for the current system, which refers to the ability to handle unseen scenarios or…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Document parsing has recently advanced with multimodal large language models (MLLMs) that directly map document images to structured outputs. Traditional cascaded pipelines depend on precise layout analysis and often fail under casually…

Recent advancements in auto-regressive large language models (LLMs) have led to their application in video generation. This paper explores the use of Large Vision Models (LVMs) for video continuation, a task essential for building world…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

Large language models (LLMs) have demonstrated exceptional capabilities in text understanding, which has paved the way for their expansion into video LLMs (Vid-LLMs) to analyze video data. However, current Vid-LLMs struggle to…

Vision-language models (VLMs) show promise for autonomous driving but often lack transparent reasoning capabilities that are critical for safety. We investigate whether explicitly modeling reasoning during fine-tuning enhances VLM…

Relational Language-Image Pre-training (RLIP) aims to align vision representations with relational texts, thereby advancing the capability of relational reasoning in computer vision tasks. However, hindered by the slow convergence of RLIPv1…