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

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…

Driving scenario data play an increasingly vital role in the development of intelligent vehicles and autonomous driving. Accurate and efficient scenario data search is critical for both online vehicle decision-making and planning, and…

Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligence. However, VLM-based planners treat each step as an isolated observation-to-action mapping, forcing them to reinfer scene geometry…

Visual Retrieval-Augmented Generation (VRAG) enhances Vision-Language Models (VLMs) by incorporating external visual documents to address a given query. Existing VRAG frameworks usually depend on rigid, pre-defined external tools to extend…

Driving in compliance with traffic laws and regulations is a basic requirement for human drivers, yet autonomous vehicles (AVs) can violate these requirements in diverse real-world scenarios. To encode law compliance into AV systems,…

Vision-language models, such as CLIP, have achieved significant success in aligning visual and textual representations, becoming essential components of many multi-modal large language models (MLLMs) like LLaVA and OpenFlamingo. However,…

Large Language Models (LLMs) have demonstrated impressive capabilities in language processing, yet they often struggle with tasks requiring genuine visual spatial reasoning. In this paper, we introduce a novel two-stage training framework…

Visual reinforcement learning (RL) suffers from poor sample efficiency due to high-dimensional observations in complex tasks. While existing works have shown that vision-language models (VLMs) can assist RL, they often focus on knowledge…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

Recent advancements in Vision-Language (VL) research have sparked new benchmarks for complex visual reasoning, challenging models' advanced reasoning ability. Traditional Vision-Language Models (VLMs) perform well in visual perception tasks…

Autonomous Vehicles (AV)'s wide-scale deployment appears imminent despite many safety challenges yet to be resolved. The modern autonomous vehicles will undoubtedly include machine learning and probabilistic techniques that add significant…

Accurately understanding and deciding high-level meta-actions is essential for ensuring reliable and safe autonomous driving systems. While vision-language models (VLMs) have shown significant potential in various autonomous driving tasks,…

The effectiveness of collision-free trajectory planners depends on the quality and diversity of training data, especially for rare scenarios. A widely used approach to improve dataset diversity involves generating realistic synthetic…

We are interested in long-term deployments of autonomous robots to aid astronauts with maintenance and monitoring operations in settings such as the International Space Station. Unfortunately, such environments tend to be highly dynamic and…

Automatic identification of events and recurrent behavior analysis are critical for video surveillance. However, most existing content-based video retrieval benchmarks focus on scene-level similarity and do not evaluate the action…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

Speculative Decoding (SD) accelerates autoregressive large language model (LLM) inference by decoupling generation and verification. While recent methods improve draft quality by tightly coupling the drafter with the target model, the…

The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…

Hybrid planner switching framework (HPSF) for autonomous driving needs to reconcile high-speed driving efficiency with safe maneuvering in dense traffic. Existing HPSF methods often fail to make reliable mode transitions or sustain…