128 citations · 424 across the 59 of their papers we have counts for
12 papers · 1 filter
VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding
Runsen Xu, Zhiwei Huang, Tai Wang +3
3D visual grounding is crucial for robots, requiring integration of natural language and 3D scene understanding. Traditional methods depending on supervised learning with 3D point…
Dual-AEB: Synergizing Rule-Based and Multimodal Large Language Models for Effective Emergency Braking
Wei Zhang, Pengfei Li, Junli Wang +8
Automatic Emergency Braking (AEB) systems are a crucial component in ensuring the safety of passengers in autonomous vehicles. Conventional AEB systems primarily rely on closed-set…
Bench4Merge: A Comprehensive Benchmark for Merging in Realistic Dense Traffic with Micro-Interactive Vehicles
Zhengming Wang, Junli Wang, Pengfei Li +5
While the capabilities of autonomous driving have advanced rapidly, merging into dense traffic remains a significant challenge, many motion planning methods for this scenario have…
GRUtopia: Dream General Robots in a City at Scale
Hanqing Wang, Jiahe Chen, Wensi Huang +19
Recent works have been exploring the scaling laws in the field of Embodied AI. Given the prohibitive costs of collecting real-world data, we believe the Simulation-to-Real (Sim2Rea…
Open-Vocabulary Object-Goal Navigation by Generalizing Semantic Mapping with Dense CLIP
Meng Wei, Chenyang Wan, Tai Wang +6
Object-oriented embodied navigation tasks require agents to locate specific objects, either defined by category or images, in unseen environments. While recent methods have made pr…
MMScan: A Multi-Modal 3D Scene Dataset with Hierarchical Grounded Language Annotations
Ruiyuan Lyu, Jingli Lin, Tai Wang +8
With the emergence of LLMs and their integration with other data modalities, multi-modal 3D perception attracts more attention due to its connectivity to the physical world and mak…
What Makes CLIP More Robust to Long-Tailed Pre-Training Data? A Controlled Study for Transferable Insights
Xin Wen, Bingchen Zhao, Yilun Chen +2
Severe data imbalance naturally exists among web-scale vision-language datasets. Despite this, we find CLIP pre-trained thereupon exhibits notable robustness to the data imbalance…
Grounded 3D-LLM with Referent Tokens
Yilun Chen, Shuai Yang, Haifeng Huang +5
Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-…
3DGSR: Implicit Surface Reconstruction with 3D Gaussian Splatting
Xiaoyang Lyu, Yang-Tian Sun, Yi-Hua Huang +5
In this paper, we present an implicit surface reconstruction method with 3D Gaussian Splatting (3DGS), namely 3DGSR, that allows for accurate 3D reconstruction with intricate detai…
TOD3Cap: Towards 3D Dense Captioning in Outdoor Scenes
Bu Jin, Yupeng Zheng, Pengfei Li +12
3D dense captioning stands as a cornerstone in achieving a comprehensive understanding of 3D scenes through natural language. It has recently witnessed remarkable achievements, par…
More Than Routing: Joint GPS and Route Modeling for Refine Trajectory Representation Learning
Zhipeng Ma, Zheyan Tu, Xinhai Chen +6
Trajectory representation learning plays a pivotal role in supporting various downstream tasks. Traditional methods in order to filter the noise in GPS trajectories tend to focus o…
EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detection
Zhe Wang, Siqi Fan, Xiaoliang Huo +5
In autonomous driving, cooperative perception makes use of multi-view cameras from both vehicles and infrastructure, providing a global vantage point with rich semantic context of…