相关论文: D2-V2X: Depth-Driven Cooperative V2X Reasoning for…

Modern autonomous vehicle perception systems are often constrained by occlusions, blind spots, and limited sensing range. While existing cooperative perception paradigms, such as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I),…

Vision-and-language navigation (VLN) requires an embodied agent to ground natural-language instructions into executable navigation actions in unseen environments. Existing zero-shot methods typically rely on additional waypoint prediction…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is…

Modern autonomous vehicle perception systems often struggle with occlusions and limited perception range. Previous studies have demonstrated the effectiveness of cooperative perception in extending the perception range and overcoming…

At present, Connected Autonomous Vehicles (CAVs) have begun to open road testing around the world, but their safety and efficiency performance in complex scenarios is still not satisfactory. Cooperative driving leverages the connectivity…

In this paper, we investigate the application of Vehicle-to-Everything (V2X) communication to improve the perception performance of autonomous vehicles. We present a robust cooperative perception framework with V2X communication using a…

The rapid advancement of Large Multimodal Models (LMMs) for 2D images and videos has motivated extending these models to understand 3D scenes, aiming for human-like visual-spatial intelligence. Nevertheless, achieving deep spatial…

Effectively understanding urban scenes requires fine-grained spatial reasoning about objects, layouts, and depth cues. However, how well current vision-language models (VLMs), pretrained on general scenes, transfer these abilities to urban…

Visually linking matching cues is a crucial ability in daily life, such as identifying the same person in multiple photos based on their cues, even without knowing who they are. Despite the extensive knowledge that vision-language models…

Ensuring reliable autonomous operation when visual input is degraded remains a key challenge in intelligent vehicles and robotics. We present DepthVision, a multimodal framework that enables Vision--Language Models (VLMs) to exploit LiDAR…

Cooperative autonomous driving requires traffic scene understanding from both vehicle and infrastructure perspectives. While vision-language models (VLMs) show strong general reasoning capabilities, their performance in safety-critical…

Visual Question Answering (VQA) models, which fall under the category of vision-language models, conventionally execute multiple downsampling processes on image inputs to strike a balance between computational efficiency and model…

Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding and reasoning about visual content, but significant challenges persist in tasks requiring cross-viewpoint understanding and spatial reasoning. We…

Existing Vehicle-to-Everything (V2X) cooperative perception methods rely on accurate multi-agent 3D annotations. Nevertheless, it is time-consuming and expensive to collect and annotate real-world data, especially for V2X systems. In this…

Building state-of-the-art Vision-Language Models (VLMs) with strong captioning capabilities typically necessitates training on billions of high-quality image-text pairs, requiring millions of GPU hours. This paper introduces the…

Current Vision-Language Model (VLM)-based end-to-end autonomous driving systems often leverage large language models to generate driving decisions directly based on their understanding of the current scene. However, such systems introduce…

End-to-end autonomous driving has drawn tremendous attention recently. Many works focus on using modular deep neural networks to construct the end-to-end archi-tecture. However, whether using powerful large language models (LLM), especially…

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,…

Dynamic maps (DM) serve as the fundamental information infrastructure for vehicle-road-cloud (VRC) cooperative autonomous driving in China and Japan. By providing comprehensive traffic scene representations, DM overcome the limitations of…