相关论文: VLMFusionOcc3D: VLM Assisted Multi-Modal 3D Semant…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

With the recent rise of Large Language Models (LLMs), Vision-Language Models (VLMs), and other general foundation models, there is growing potential for multimodal, multi-task embodied agents that can operate in diverse environments given…

The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…

Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer…

In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…

Recent developments in Multimodal Large Language Models (MLLMs) have significantly improved Vision-Language (VL) reasoning in 2D domains. However, extending these capabilities to 3D scene understanding remains a major challenge. Existing 3D…

Environment prediction frameworks are critical for the safe navigation of autonomous vehicles (AVs) in dynamic settings. LiDAR-generated occupancy grid maps (L-OGMs) offer a robust bird's-eye view for the scene representation, enabling…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

We present LatentAM, an online 3D Gaussian Splatting (3DGS) mapping framework that builds scalable latent feature maps from streaming RGB-D observations for open-vocabulary robotic perception. Instead of distilling high-dimensional…

Recent advances in 3D generation have improved the fidelity and geometric details of synthesized 3D assets. However, due to the inherent ambiguity of single-view observations and the lack of robust global structural priors caused by limited…

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…

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view…

Vision-Language Models(VLMs) excel at autoregressive text generation, yet end-to-end autonomous driving requires multi-task learning with structured outputs and heterogeneous decoding behaviors, such as autoregressive language generation,…

Embodied agents face a critical dilemma that end-to-end models lack interpretability and explicit 3D reasoning, while modular systems ignore cross-component interdependencies and synergies. To bridge this gap, we propose the Dynamic 3D…

Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

Multimodal large language models (MLLMs) demonstrate exceptional capabilities in semantic understanding and visual reasoning, yet they still face challenges in precise object localization and resource-constrained edge-cloud deployment. To…

There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multi-modal models fail to provide satisfactory results in describing occluded objects through…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…