相关论文: Natural Language Instructions for Scene-Responsive…

Long-term video understanding requires interpreting complex temporal events and reasoning over procedural activities. While instructional video corpora, like HowTo100M, offer rich resources for model training, they present significant…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Instruction tuning is a widely used approach to improve the instruction-following ability of large language models (LLMs). Instruction-tuning datasets typically include a mixture of context-augmented and context-free examples, yet prior…

The visual world offers a critical axis for advancing foundation models beyond language. Despite growing interest in this direction, the design space for native multimodal models remains opaque. We provide empirical clarity through…

Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

Embodied scene understanding serves as the cornerstone for autonomous agents to perceive, interpret, and respond to open driving scenarios. Such understanding is typically founded upon Vision-Language Models (VLMs). Nevertheless, existing…

End-to-end autonomous driving directly generates planning trajectories from raw sensor data, yet it typically relies on costly perception supervision to extract scene information. A critical research challenge arises: constructing an…

We present a flow-matching planner for autonomous driving that directly outputs actionable control trajectories defined by acceleration and curvature profiles. The model is conditioned on a bird's-eye-view (BEV) raster of the surrounding…

Vision-and-Language Navigation (VLN) is unique in that it requires turning relatively general natural-language instructions into robot agent actions, on the basis of the visible environment. This requires to extract value from two very…

Comprehensive situational awareness is essential for autonomous vehicles operating in safety-critical environments, as it enables the identification and mitigation of potential risks. Although recent Multimodal Large Language Models (MLLMs)…

Benchmarking autonomous driving planners to align with human judgment remains a critical challenge, as state-of-the-art metrics like the Extended Predictive Driver Model Score (EPDMS) lack context awareness in nuanced scenarios. To address…

Vision-Language Navigation (VLN) aims to enable agents to navigate to a target location based on language instructions. Traditional VLN often follows a close-set assumption, i.e., training and test data share the same style of the input…

The rapid progress of vision--language models (VLMs) has sparked growing interest in robotic control, where natural language can express the operation goals while visual feedback links perception to action. However, directly deploying…

Autonomous Driving (AD) encounters significant safety hurdles in long-tail unforeseen driving scenarios, largely stemming from the non-interpretability and poor generalization of the deep neural networks within the AD system, particularly…

Despite significant advancements in text-to-motion synthesis, generating language-guided human motion within 3D environments poses substantial challenges. These challenges stem primarily from (i) the absence of powerful generative models…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

Reliable real-time trajectory generation is essential for future autonomous spacecraft. While recent progress in nonconvex guidance and control is paving the way for onboard autonomous trajectory optimization, these methods still rely on…

Visual instruction tuning adapts pre-trained Multimodal Large Language Models (MLLMs) to follow human instructions for real-world applications. However, the rapid growth of these datasets introduces significant redundancy, leading to…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…