相关论文: K-Gen: A Multimodal Language-Conditioned Approach …

Simulation is an invaluable tool for developing and evaluating controllers for self-driving cars. Current simulation frameworks are driven by highly-specialist domain specific languages, and so a natural language interface would greatly…

Large language model (LLM) agents often suffer from high reasoning overhead, excessive token consumption, unstable execution, and inability to reuse past experiences in complex tasks like business queries, tool use, and workflow…

The emergence of Multimodal Large Language Models (MLLMs) has revolutionized image understanding by bridging textual and visual modalities. However, these models often struggle with capturing fine-grained semantic information, such as the…

Recent advancements in Multimodal Large Language Models (MLLMs) have greatly improved their abilities in image understanding. However, these models often struggle with grasping pixel-level semantic details, e.g., the keypoints of an object.…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities…

Knowledge retrieval with multi-modal queries plays a crucial role in supporting knowledge-intensive multi-modal applications. However, existing methods face challenges in terms of their effectiveness and training efficiency, especially when…

Quality-Diversity is a branch of stochastic optimization that is often applied to problems from the Reinforcement Learning and control domains in order to construct repertoires of well-performing policies/skills that exhibit diversity with…

We propose a unified deep learning framework for the generation and analysis of driving scenario trajectories, and validate its effectiveness in a principled way. To model and generate scenarios of trajectories with different lengths, we…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

We introduce iMotion-LLM, a large language model (LLM) integrated with trajectory prediction modules for interactive motion generation. Unlike conventional approaches, it generates feasible, safety-aligned trajectories based on textual…

We introduce UniGen, a unified multimodal large language model (MLLM) capable of image understanding and generation. We study the full training pipeline of UniGen from a data-centric perspective, including multi-stage pre-training,…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

Recent progress in Multimodal Large Language Models (MLLMs) demonstrates that Chain-of-Thought (CoT) reasoning enables systematic solutions to complex understanding tasks. However, its extension to generation tasks remains nascent and…

We propose a training-free, Vision-Language Model (VLM)-guided approach for efficiently generating trajectories to facilitate target inspection planning based on text descriptions. Unlike existing Vision-and-Language Navigation (VLN)…

Existing end-to-end autonomous driving models rely heavily on purely data-driven inductive reasoning. This "black-box" nature leads to a lack of interpretability and absolute safety guarantees in complex, long-tail scenarios. To overcome…

This paper presents an in-depth survey on the use of multimodal Generative Artificial Intelligence (GenAI) and autoregressive Large Language Models (LLMs) for human motion understanding and generation, offering insights into emerging…

We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…

Realistic and diverse simulation scenarios with reactive and feasible agent behaviors can be used for validation and verification of self-driving system performance without relying on expensive and time-consuming real-world testing.…

People commonly leverage structured content to accelerate knowledge acquisition and research problem solving. Among these, roadmaps guide researchers through hierarchical subtasks to solve complex research problems step by step. Despite…