9 papers
OccWAM: Occupancy World-Action Models with Joint Scene-to-Ego Flow Matching
Qihang Huang, Wenhui Huang, Collister Chua +6
Occupancy world models provide a structured, metric representation of future driving scenes, making them a promising basis for end-to-end autonomous driving. However, existing occu…
GeoWorldAD: Geometry World Action Model for Autonomous Driving
Songyan Zhang, Jinyuan Tian, Hanbing Li +9
Autonomous driving requires both safe and efficient planning decisions in dynamic 3D environments. Although recent Vision/Video-Action models learn policies directly from visual ob…
Towards Safe Mobility: A Unified Transportation Foundation Model enabled by Open-Ended Vision-Language Dataset
Wenhui Huang, Songyan Zhang, Collister Chua +4
Urban transportation systems face growing safety challenges that require scalable intelligence for emerging smart mobility infrastructures. While recent advances in foundation mode…
AutoMoT: A Unified Vision-Language-Action Model with Asynchronous Mixture-of-Transformers for End-to-End Autonomous Driving
Wenhui Huang, Songyan Zhang, Qihang Huang +6
Integrating vision-language models (VLMs) into end-to-end (E2E) autonomous driving (AD) systems has shown promise in improving scene understanding. However, existing integration st…
OpenREAD: Reinforced Open-Ended Reasoning for End-to-End Autonomous Driving with LLM-as-Critic
Songyan Zhang, Wenhui Huang, Zhan Chen +3
Recently, two-stage fine-tuning strategies, e.g., acquiring essential driving knowledge through supervised fine-tuning (SFT) and further enhancing decision-making and planning via…
DMS:Diffusion-Based Multi-Baseline Stereo Generation for Improving Self-Supervised Depth Estimation
Zihua Liu, Yizhou Li, Songyan Zhang +1
While supervised stereo matching and monocular depth estimation have advanced significantly with learning-based algorithms, self-supervised methods using stereo images as supervisi…
POMATO: Marrying Pointmap Matching with Temporal Motion for Dynamic 3D Reconstruction
Songyan Zhang, Yongtao Ge, Jinyuan Tian +4
3D reconstruction in dynamic scenes primarily relies on the combination of geometry estimation and matching modules where the latter task is pivotal for distinguishing dynamic regi…
WiseAD: Knowledge Augmented End-to-End Autonomous Driving with Vision-Language Model
Songyan Zhang, Wenhui Huang, Zihui Gao +2
The emergence of general human knowledge and impressive logical reasoning capacity in rapidly progressed vision-language models (VLMs) have driven increasing interest in applying V…
RGM: A Robust Generalizable Matching Model
Songyan Zhang, Xinyu Sun, Hao Chen +2
Finding corresponding pixels within a pair of images is a fundamental computer vision task with various applications. Due to the specific requirements of different tasks like optic…