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

In audio-visual navigation (AVN) tasks, an embodied agent must autonomously localize a sound source in unknown and complex 3D environments based on audio-visual signals. Existing methods often rely on static modality fusion strategies and…

Despite the remarkable progress in open-vocabulary object detection (OVD), a significant gap remains between the training and testing phases. During training, the RPN and RoI heads often misclassify unlabeled novel-category objects as…

Enabling models to recognize vast open-world categories has been a longstanding pursuit in object detection. By leveraging the generalization capabilities of vision-language models, current open-world detectors can recognize a broader range…

Multi-Object Tracking (MOT) aims to associate multiple objects across video frames and is a challenging vision task due to inherent complexities in the tracking environment. Most existing approaches train and track within a single domain,…

Understanding the world around us and making decisions about the future is a critical component to human intelligence. As autonomous systems continue to develop, their ability to reason about the future will be the key to their success.…

Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…

This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…

Open-world 3D semantic occupancy prediction aims to generate a voxelized 3D representation from sensor inputs while recognizing both known and unknown objects. Transferring open-vocabulary knowledge from vision-language models (VLMs) offers…

In this work, we tackle the limitations of current LiDAR-based 3D object detection systems, which are hindered by a restricted class vocabulary and the high costs associated with annotating new object classes. Our exploration of…

Drawing inspiration from prompt tuning techniques applied to Large Language Models, recent methods based on pre-trained ViT networks have achieved remarkable results in the field of Continual Learning. Specifically, these approaches propose…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Multi-Object Tracking (MOT) is a fundamental task in computer vision, aiming to track targets across video frames. Existing MOT methods perform well in general visual scenes, but face significant challenges and limitations when extended to…

Open-Vocabulary Segmentation (OVS) aims to segment classes that are not present in the training dataset. However, most existing studies assume that the training data is fixed in advance, overlooking more practical scenarios where new…

One of the core components of modern spoken dialogue systems is the belief tracker, which estimates the user's goal at every step of the dialogue. However, most current approaches have difficulty scaling to larger, more complex dialogue…

Multi-Object Tracking (MOT) is evolving from geometric localization to Semantic MOT (SMOT) to answer complex relational queries, yet progress is hindered by semantic data scarcity and a structural disconnect between tracking architectures…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

Open-vocabulary 3D object detection methods are able to localize 3D boxes of classes unseen during training. Despite the name, existing methods rely on user-specified classes both at training and inference. We propose to study…