6 papers
One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation
Xiaomi Embodied Intelligence Team, University of Macau, : +21
Scaling generalist vision-language-action (VLA) policies is severely bottlenecked by the inherent heterogeneity of embodied data, which spans diverse robot morphologies, camera con…
VILTA: A VLM-in-the-Loop Adversary for Enhancing Driving Policy Robustness
Qimao Chen, Fang Li, Shaoqing Xu +9
The safe deployment of autonomous driving (AD) systems is fundamentally hindered by the long-tail problem, where rare yet critical driving scenarios are severely underrepresented i…
DVGT: Driving Visual Geometry Transformer
Sicheng Zuo, Zixun Xie, Wenzhao Zheng +6
Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model…
AdaThinkDrive: Adaptive Thinking via Reinforcement Learning for Autonomous Driving
Yuechen Luo, Fang Li, Shaoqing Xu +11
While reasoning technology like Chain of Thought (CoT) has been widely adopted in Vision Language Action (VLA) models, it demonstrates promising capabilities in end to end autonomo…
GaussianPretrain: A Simple Unified 3D Gaussian Representation for Visual Pre-training in Autonomous Driving
Shaoqing Xu, Fang Li, Shengyin Jiang +3
Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on…
The RoboDrive Challenge: Drive Anytime Anywhere in Any Condition
Lingdong Kong, Shaoyuan Xie, Hanjiang Hu +88
In the realm of autonomous driving, robust perception under out-of-distribution conditions is paramount for the safe deployment of vehicles. Challenges such as adverse weather, sen…