相关论文: BEVLM: Distilling Semantic Knowledge from LLMs int…

Efficient relocalization is essential for intelligent vehicles when GPS reception is insufficient or sensor-based localization fails. Recent advances in Bird's-Eye-View (BEV) segmentation allow for accurate estimation of local scene…

Large Vision Language Models (LVLMs) have demonstrated impressive zero-shot capabilities in various vision-language dialogue scenarios. However, the absence of fine-grained visual object detection hinders the model from understanding the…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Large Multimodal Models (LMMs), or Vision-Language Models (VLMs), have shown impressive capabilities in a wide range of visual tasks. However, they often struggle with fine-grained visual reasoning, failing to identify domain-specific…

Unlocking spatial reasoning in Multimodal Large Language Models (MLLMs) is crucial for enabling intelligent interaction with 3D environments. While prior efforts often rely on explicit 3D inputs or specialized model architectures, we ask:…

The remarkable progress of Multimodal Large Language Models (MLLMs) has attracted increasing attention to extend them to physical entities like legged robot. This typically requires MLLMs to not only grasp multimodal understanding…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

3D Lane detection plays an important role in autonomous driving. Recent advances primarily build Birds-Eye-View (BEV) feature from front-view (FV) images to perceive 3D information of Lane more effectively. However, constructing accurate…

Large language models (LLMs) and vision-language models (VLMs) have demonstrated remarkable performance across a wide range of tasks and domains. Despite this promise, spatial understanding and reasoning -- a fundamental component of human…

Deep learning models for autonomous driving, encompassing perception, planning, and control, depend on vast datasets to achieve their high performance. However, their generalization often suffers due to domain-specific data distributions,…

The integration of electric vehicles (EVs) into smart grids presents unique opportunities to enhance both transportation systems and energy networks. However, ensuring safe and interpretable interactions between drivers, vehicles, and the…

Multi-modal large language models (MLLMs) have shown incredible capabilities in a variety of 2D vision and language tasks. We extend MLLMs' perceptual capabilities to ground and reason about images in 3-dimensional space. To that end, we…

Extracting a Bird's Eye View (BEV) representation from multiple camera images offers a cost-effective, scalable alternative to LIDAR-based solutions in autonomous driving. However, the performance of the existing BEV methods drops…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Aligning visual features with language embeddings is a key challenge in vision-language models (VLMs). The performance of such models hinges on having a good connector that maps visual features generated by a vision encoder to a shared…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Vision-language models (VLMs) have emerged as powerful tools for enabling automated traffic analysis; however, current approaches often demand substantial computational resources and struggle with fine-grained spatio-temporal understanding.…

Bird's-eye-view (BEV) map layout estimation requires an accurate and full understanding of the semantics for the environmental elements around the ego car to make the results coherent and realistic. Due to the challenges posed by occlusion,…

Vision-language models (VLMs) have achieved impressive performance across a wide range of multimodal tasks. However, they often fail on tasks that require fine-grained visual perception, even when the required information is still present…

Vehicle-to-everything (V2X) cooperation has emerged as a promising paradigm to overcome the perception limitations of classical autonomous driving by leveraging information from both ego-vehicle and infrastructure sensors. However,…