相关论文: NOVA: Next-step Open-Vocabulary Autoregression for…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Training neural networks to perform 3D object detection for autonomous driving requires a large amount of diverse annotated data. However, obtaining training data with sufficient quality and quantity is expensive and sometimes impossible…

Large Language Models (LLMs) and Multimodal LLMs (MLLMs) have demonstrated immense potential in autonomous driving (AD) by offering human-like reasoning and open-world generalization. However, the excessive computational overhead and high…

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,…

Bird's eye view (BEV)-based 3D perception plays a crucial role in autonomous driving applications. The rise of large language models has spurred interest in BEV-based captioning to understand object behavior in the surrounding environment.…

Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…

Tracking of objects in 3D is a fundamental task in computer vision that finds use in a wide range of applications such as autonomous driving, robotics or augmented reality. Most recent approaches for 3D multi object tracking (MOT) from…

The development of robust Autonomous Vehicles (AVs) is bottlenecked by the scarcity of "Long-Tail" training data. While fleets collect petabytes of video logs, identifying rare safety-critical events (e.g., erratic jaywalking, construction…

The consistency between the semantic information provided by the multi-modal reference and the tracked object is crucial for visual-language (VL) tracking. However, existing VL tracking frameworks rely on static multi-modal references to…

Vision-Language-Action (VLA) models offer promising capabilities for autonomous driving through multimodal understanding. However, their utilization in safety-critical scenarios is constrained by inherent limitations, including imprecise…

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…

To identify objects beyond predefined categories, open-vocabulary aerial object detection (OVAD) leverages the zero-shot capabilities of visual-language models (VLMs) to generalize from base to novel categories. Existing approaches…

While Vision-Language-Action (VLA) models have revolutionized autonomous driving by unifying perception and planning, their reliance on explicit textual Chain-of-Thought (CoT) leads to semantic-perceptual decoupling and perceptual-symbolic…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

In the burgeoning field of autonomous vehicles (AVs), trajectory prediction remains a formidable challenge, especially in mixed autonomy environments. Traditional approaches often rely on computational methods such as time-series analysis.…

Open-vocabulary Object Goal Navigation requires an embodied agent to reach objects described by free-form language, including categories never seen during training. Existing end-to-end policies overfit small simulator datasets, achieving…

The nature of diversity in real-world environments necessitates neural network models to expand from closed category settings to accommodate novel emerging categories. In this paper, we study the open-vocabulary object detection (OVD),…

We describe an approach to predict open-vocabulary 3D semantic voxel occupancy map from input 2D images with the objective of enabling 3D grounding, segmentation and retrieval of free-form language queries. This is a challenging problem…

Open-vocabulary multi-object tracking (OVMOT) represents a critical new challenge involving the detection and tracking of diverse object categories in videos, encompassing both seen categories (base classes) and unseen categories (novel…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…