8 citations · 18 across the 39 of their papers we have counts for
20 papers · 1 filter
DriveVLA-M0: Failure-Aware Memory Augmentation for Autonomous Driving
Zebin Xing, Yupeng Zheng, Qiang Chen +10
Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for end-to-end autonomous driving by enabling unified reasoning across perception, language, and p…
VisCo: Leveraging Large Language Models as Intrinsic Encoders for Visual Token Compression
Yupeng Zheng, Kai Zou, Bin Liu +1
Vision-language models (VLMs) process large numbers of visual tokens, resulting in substantial inference latency and memory overhead. This has motivated extensive research on visua…
Saliency-Guided Representation with Consistency Policy Learning for Visual Unsupervised Reinforcement Learning
Jingbo Sun, Qichao Zhang, Songjun Tu +5
Zero-shot unsupervised reinforcement learning (URL) offers a promising direction for building generalist agents capable of generalizing to unseen tasks without additional supervisi…
Latent-WAM: Latent World Action Modeling for End-to-End Autonomous Driving
Linbo Wang, Yupeng Zheng, Qiang Chen +14
We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world re…
Enhancing Indoor Occupancy Prediction via Sparse Query-Based Multi-Level Consistent Knowledge Distillation
Xiang Li, Yupeng Zheng, Pengfei Li +3
Occupancy prediction provides critical geometric and semantic understanding for robotics but faces efficiency-accuracy trade-offs. Current dense methods suffer computational waste…
TrajMoE: Scene-Adaptive Trajectory Planning with Mixture of Experts and Reinforcement Learning
Zebin Xing, Pengxuan Yang, Linbo Wang +12
Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous…
UniArt: Unified 3D Representation for Generating 3D Articulated Objects with Open-Set Articulation
Bu Jin, Weize Li, Songen Gu +4
Articulated 3D objects play a vital role in realistic simulation and embodied robotics, yet manually constructing such assets remains costly and difficult to scale. In this paper,…
OccTENS: 3D Occupancy World Model via Temporal Next-Scale Prediction
Bu Jin, Songen Gu, Xiaotao Hu +5
In this paper, we propose OccTENS, a generative occupancy world model that enables controllable, high-fidelity long-term occupancy generation while maintaining computational effici…
ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving
Xueyi Liu, Zuodong Zhong, Yuxin Guo +9
Due to the powerful vision-language reasoning and generalization abilities, multimodal large language models (MLLMs) have garnered significant attention in the field of end-to-end…
Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving
Xiang Li, Pengfei Li, Yupeng Zheng +3
Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surr…
Adaptive Surface Normal Constraint for Geometric Estimation from Monocular Images
Xiaoxiao Long, Yuhang Zheng, Yupeng Zheng +6
We introduce a novel approach to learn geometries such as depth and surface normal from images while incorporating geometric context. The difficulty of reliably capturing geometric…
Tri-Perspective View Decomposition for Geometry-Aware Depth Completion
Zhiqiang Yan, Yuankai Lin, Kun Wang +5
Depth completion is a vital task for autonomous driving, as it involves reconstructing the precise 3D geometry of a scene from sparse and noisy depth measurements. However, most ex…
MonoOcc: Digging into Monocular Semantic Occupancy Prediction
Yupeng Zheng, Xiang Li, Pengfei Li +6
Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, partic…
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…
Latency-aware Road Anomaly Segmentation in Videos: A Photorealistic Dataset and New Metrics
Beiwen Tian, Huan-ang Gao, Leiyao Cui +6
In the past several years, road anomaly segmentation is actively explored in the academia and drawing growing attention in the industry. The rationale behind is straightforward: if…
3D Implicit Transporter for Temporally Consistent Keypoint Discovery
Chengliang Zhong, Yuhang Zheng, Yupeng Zheng +9
Keypoint-based representation has proven advantageous in various visual and robotic tasks. However, the existing 2D and 3D methods for detecting keypoints mainly rely on geometric…
Learnable Differencing Center for Nighttime Depth Perception
Zhiqiang Yan, Yupeng Zheng, Chongyi Li +2
Depth completion is the task of recovering dense depth maps from sparse ones, usually with the help of color images. Existing image-guided methods perform well on daytime depth per…
DPF: Learning Dense Prediction Fields with Weak Supervision
Xiaoxue Chen, Yuhang Zheng, Yupeng Zheng +4
Nowadays, many visual scene understanding problems are addressed by dense prediction networks. But pixel-wise dense annotations are very expensive (e.g., for scene parsing) or impo…
STEPS: Joint Self-supervised Nighttime Image Enhancement and Depth Estimation
Yupeng Zheng, Chengliang Zhong, Pengfei Li +8
Self-supervised depth estimation draws a lot of attention recently as it can promote the 3D sensing capabilities of self-driving vehicles. However, it intrinsically relies upon the…
ADAPT: Action-aware Driving Caption Transformer
Bu Jin, Xinyu Liu, Yupeng Zheng +6
End-to-end autonomous driving has great potential in the transportation industry. However, the lack of transparency and interpretability of the automatic decision-making process hi…