8 papers
nuCarla: A nuScenes-Style Bird's-Eye View Perception Dataset for CARLA Simulation
Zhijie Qiao, Zhong Cao, Henry X. Liu
End-to-end (E2E) autonomous driving heavily relies on closed-loop simulation, where perception, planning, and control are jointly trained and evaluated in interactive environments.…
Boosting Zero-Shot VLN via Abstract Obstacle Map-Based Waypoint Prediction with TopoGraph-and-VisitInfo-Aware Prompting
Boqi Li, Siyuan Li, Weiyi Wang +3
With the rapid progress of foundation models and robotics, vision-language navigation (VLN) has emerged as a key task for embodied agents with broad practical applications. We addr…
End2Race: An End-to-End Learning Framework for Multi-Vehicle Autonomous Racing
Zhijie Qiao, Haowei Li, Zhong Cao +1
Autonomous racing serves as a compelling testbed for advancing autonomous vehicle systems. The 1/10-scale F1Tenth platform is widely adopted for education and research, with annual…
Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation
Yue Hu, Junzhe Wu, Ruihan Xu +5
Semantic navigation requires an agent to navigate toward a specified target in an unseen environment. Employing an imaginative navigation strategy that predicts future scenes befor…
RADE: Learning Risk-Adjustable Driving Environment via Multi-Agent Conditional Diffusion
Jiawei Wang, Xintao Yan, Yao Mu +3
Generating safety-critical scenarios in high-fidelity simulations offers a promising and cost-effective approach for efficient testing of autonomous vehicles. Existing methods typi…
LightEMMA: A Longitudinal Evaluation of Vision-Language Models for Autonomous Driving
Zhijie Qiao, Haowei Li, Zhong Cao +1
Rapid advances in vision-language models (VLMs) have generated growing interest in their application to autonomous driving. A prevailing assumption is that successive VLM generatio…
Reforge: Low-Latency Distributed GNN Serving with Selective Embedding Recomputation
Geon-Woo Kim, Donghyun Kim, Jeongyoon Moon +5
Graph Neural Networks (GNNs) have been widely adopted for their ability to compute expressive node representations in graph datasets. However, serving GNNs on large graphs is chall…
Efficient Placard Discovery for Semantic Mapping During Frontier Exploration
David Balaban, Harshavardhan Jagannathan, Henry Liu +1
Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorit…