4 papers
Chain of Spatial Thoughts: Modality-Agnostic Spatial Grounding for Vision Language Models
Hunter Schofield, Mohammed Elmahgiubi, Mohammad Mahdavian +4
Spatial understanding is fundamental to embodied intelligence, underpinning applications such as robotic manipulation, embodied navigation, and autonomous driving. Although recent…
CAPS: Context-Aware Priority Sampling for Enhanced Imitation Learning in Autonomous Driving
Hamidreza Mirkhani, Behzad Khamidehi, Ehsan Ahmadi +6
In this paper, we introduce Context-Aware Priority Sampling (CAPS), a novel method designed to enhance data efficiency in learning-based autonomous driving systems. CAPS addresses…
Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving
Hunter Schofield, Mohammed Elmahgiubi, Kasra Rezaee +1
World models have become increasingly popular in acting as learned traffic simulators. Recent work has explored replacing traditional traffic simulators with world models for polic…
Learning Soft Driving Constraints from Vectorized Scene Embeddings while Imitating Expert Trajectories
Niloufar Saeidi Mobarakeh, Behzad Khamidehi, Chunlin Li +6
The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic…