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

Recent advances in text-to-video (T2V) generation with diffusion models have garnered significant attention. However, they typically perform well in scenes with a single object and motion, struggling in compositional scenarios with multiple…

Due to the powerful vision-language reasoning and generalization abilities, multimodal large language models (MLLMs) have garnered significant attention in the field of end-to-end (E2E) autonomous driving. However, their application to…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Text-to-Video (T2V) generation has benefited from recent advances in diffusion models, yet current systems still struggle under complex scenarios, which are generally exacerbated by the ambiguity and underspecification of text prompts. In…

In UAV dynamic decision, complex and variable hazardous factors pose severe challenges to the generalization capability of algorithms. Despite offering semantic understanding and scene generalization, Large Language Models (LLM) lack…

This paper introduces CRITICAL, a novel closed-loop framework for autonomous vehicle (AV) training and testing. CRITICAL stands out for its ability to generate diverse scenarios, focusing on critical driving situations that target specific…

Autonomous driving systems remain critically vulnerable to the long-tail of rare, out-of-distribution semantic anomalies. While VLMs have emerged as promising tools for perception, their application in anomaly detection remains largely…

The rapid growth of ego-centric dashcam footage presents a major challenge for detecting safety-critical events such as collisions and near-collisions, scenarios that are brief, rare, and difficult for generic vision models to capture.…

Accurately identifying, understanding and describing traffic safety-critical events (SCEs), including crashes, tire strikes, and near-crashes, is crucial for advanced driver assistance systems, automated driving systems, and traffic safety.…

Recent advances on Multi-modal Large Language Models have demonstrated that high-resolution image input is crucial for model capabilities, especially for fine-grained tasks. However, high-resolution images lead to a quadratic increase in…

Despite impressive advancements in Visual-Language Models (VLMs) for multi-modal tasks, their reliance on RGB inputs limits precise spatial understanding. Existing methods for integrating spatial cues, such as point clouds or depth, either…

Real-world crash reports, which combine textual summaries and sketches, are valuable for scenario-based testing of autonomous driving systems (ADS). However, current methods cannot effectively translate this multimodal data into precise,…

Long video understanding remains challenging due to its complex, diverse, and temporally scattered content. Although video large language models (Video-LLMs) can process videos lasting tens of minutes, applying them to truly long sequences…

Key frame selection in video understanding presents significant challenges. Traditional top-K selection methods, which score frames independently, often fail to optimize the selection as a whole. This independent scoring frequently results…

To guarantee the safety and reliability of autonomous vehicle (AV) systems, corner cases play a crucial role in exploring the system's behavior under rare and challenging conditions within simulation environments. However, current…

The development of web-based geospatial dashboards for risk analysis and decision support is often challenged by the difficulty in visualization of big, multi-dimensional environmental data, implementation complexity, and limited…

We introduce STSBench, a scenario-based framework to benchmark the holistic understanding of vision-language models (VLMs) for autonomous driving. The framework automatically mines pre-defined traffic scenarios from any dataset using…

This paper proposes a Short-Window Sliding Learning framework for real-time violence detection in CCTV footages. Unlike conventional long-video training approaches, the proposed method divides videos into 1-2 second clips and applies Large…

Aligned Large Language Models (LLMs) showcase remarkable versatility, capable of handling diverse real-world tasks. Meanwhile, aligned LLMs are also expected to exhibit speciality, excelling in specific applications. However, fine-tuning…

Autonomous inspection of underground infrastructure, such as sewer and culvert systems, is critical to public safety and urban sustainability. Although robotic platforms equipped with visual sensors can efficiently detect structural…