9 papers
ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies
Zenan Wu, Bingqing Wei, Lu Liu +8
Generalist manipulation policies are increasingly presented as foundation models for robotic control, but their real-world generalization remains difficult to diagnose. A policy ma…
DrivingAgent: Design and Scheduling Agents for Autonomous Driving Systems
Zhongyu Xia, Wenhao Chen, Yongtao Wang +1
Many autonomous driving systems are increasingly incorporating foundation models to improve generalization and handle long-tail scenarios. However, this trend introduces two key ch…
3DVLA: Enhancing Vision-Language-Action Models via 3D Spatial and Instance Understanding
Zhongyu Xia, Yousen Tang, Bingqing Wei +1
Vision-Language-Action models have achieved remarkable progress in robotic manipulation, yet they suffer from a critical limitation: a lack of 3D scene understanding. This deficien…
HiDrive: A Closed-Loop Benchmark for High-Level Autonomous Driving
Zhongyu Xia, Guanyu Zhu, Guo Tang +2
End-to-end autonomous driving has witnessed rapid progress, yet existing benchmarks are increasingly saturated, with state-of-the-art models achieving near-perfect scores on widely…
R4Det: 4D Radar-Camera Fusion for High-Performance 3D Object Detection
Zhongyu Xia, Yousen Tang, Yongtao Wang +2
4D radar-camera sensing configuration has gained increasing importance in autonomous driving. However, existing 3D object detection methods that fuse 4D Radar and camera data confr…
KnowVal: A Knowledge-Augmented and Value-Guided Autonomous Driving System
Zhongyu Xia, Wenhao Chen, Yongtao Wang +1
Visual-language reasoning, driving knowledge, and value alignment are essential for advanced autonomous driving systems. However, existing approaches largely rely on data-driven le…
HENet++: Hybrid Encoding and Multi-task Learning for 3D Perception and End-to-end Autonomous Driving
Zhongyu Xia, Zhiwei Lin, Yongtao Wang +1
Three-dimensional feature extraction and multi-task perception are fundamental components of modern autonomous driving systems. Although large image encoders, high-resolution input…
HeLoFusion: An Efficient and Scalable Encoder for Modeling Heterogeneous and Multi-Scale Interactions in Trajectory Prediction
Bingqing Wei, Lianmin Chen, Zhongyu Xia +1
Multi-agent trajectory prediction in autonomous driving requires a comprehensive understanding of complex social dynamics. Existing methods, however, often struggle to capture the…
InsFusion: Rethink Instance-level LiDAR-Camera Fusion for 3D Object Detection
Zhongyu Xia, Hansong Yang, Yongtao Wang
Three-dimensional Object Detection from multi-view cameras and LiDAR is a crucial component for autonomous driving and smart transportation. However, in the process of basic featur…