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

Although unsupervised domain adaptation methods have achieved remarkable performance in semantic scene segmentation in visual perception for self-driving cars, these approaches remain impractical in real-world use cases. In practice, the…

This work targets what we consider to be the foundational step for urban airborne robots, a safe landing. Our attention is directed toward what we deem the most crucial aspect of the safe landing perception stack: segmentation. We present a…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Autonomous driving has long relied on modular "Perception-Decision-Action" pipelines, where hand-crafted interfaces and rule-based components often break down in complex or long-tailed scenarios. Their cascaded design further propagates…

This work proposes an end-to-end multi-camera 3D multi-object tracking (MOT) framework. It emphasizes spatio-temporal continuity and integrates both past and future reasoning for tracked objects. Thus, we name it "Past-and-Future reasoning…

Large Vision Language Models (LVLMs) have shown strong capabilities in understanding and analyzing visual scenes across various domains. However, in the context of autonomous driving, their limited comprehension of 3D environments restricts…

End-to-end autonomous driving systems built on Vision Language Models (VLMs) have shown significant promise, yet their reliance on autoregressive architectures introduces some limitations for real-world applications. The sequential,…

Autonomous Driving (AD) systems have made notable progress, but their performance in long-tail, safety-critical scenarios remains limited. These rare cases contribute a disproportionate number of accidents. Vision-Language Action (VLA)…

3D Multi-Object Tracking (MOT) has achieved tremendous achievement thanks to the rapid development of 3D object detection and 2D MOT. Recent advanced works generally employ a series of object attributes, e.g., position, size, velocity, and…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

3D semantic segmentation provides high-level scene understanding for applications in robotics, autonomous systems, \textit{etc}. Traditional methods adapt exclusively to either task-specific goals (open-vocabulary segmentation) or scene…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Autonomous Vehicles (AVs) are transforming the future of transportation through advances in intelligent perception, decision-making, and control systems. However, their success is tied to one core capability, reliable object detection in…

Open-vocabulary object detection (OVOD) aims at localizing and recognizing visual objects from novel classes unseen at the training time. Whereas, empirical studies reveal that advanced detectors generally assign lower scores to those novel…

Open-vocabulary object detection (OVD) aims to recognize and localize object categories beyond the training set. Recent approaches leverage vision-language models to generate pseudo-labels using image-text alignment, allowing detectors to…

Recent advances in pretraining general foundation models have significantly improved performance across diverse downstream tasks. While autoregressive (AR) generative models like GPT have revolutionized NLP, most visual generative…

End-to-end autonomous driving has evolved from the conventional paradigm based on sparse perception into vision-language-action (VLA) models, which focus on learning language descriptions as an auxiliary task to facilitate planning. In this…

This paper explores the use of an extended neuroevolutionary approach, based on NeuroEvolution of Augmenting Topologies (NEAT), for autonomous robots in dynamic environments associated with hazardous tasks like firefighting, urban…

Multi-modal 3D semantic segmentation is vital for applications such as autonomous driving and virtual reality (VR). To effectively deploy these models in real-world scenarios, it is essential to employ cross-domain adaptation techniques…