7 papers
Planning-aligned Token Compression for Long-Context Autonomous Driving
Zhixuan Liang, Yuxiao Chen, Yurong You +12
Monolithic vision-action models represent an emerging paradigm in autonomous driving. However, this architecture produces token sequences that quickly exceed real-time computationa…
Uncertainty-driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Field
Shangjie Xue, Jesse Dill, Dhruv Ahuja +3
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions uns…
Counterfactual VLA: Self-Reflective Vision-Language-Action Model with Adaptive Reasoning
Zhenghao "Mark" Peng, Wenhao Ding, Yurong You +11
Recent reasoning-augmented Vision-Language-Action (VLA) models have improved the interpretability of end-to-end autonomous driving by generating intermediate reasoning traces. Yet…
InstantSplat: Sparse-view Gaussian Splatting in Seconds
Zhiwen Fan, Wenyan Cong, Kairun Wen +9
While neural 3D reconstruction has advanced substantially, its performance significantly degrades with sparse-view data, which limits its broader applicability, since SfM is often…
DreamDrive: Generative 4D Scene Modeling from Street View Images
Jiageng Mao, Boyi Li, Boris Ivanovic +7
Synthesizing photo-realistic visual observations from an ego vehicle's driving trajectory is a critical step towards scalable training of self-driving models. Reconstruction-based…
STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes
Jiawei Yang, Jiahui Huang, Yuxiao Chen +10
We present STORM, a spatio-temporal reconstruction model designed for reconstructing dynamic outdoor scenes from sparse observations. Existing dynamic reconstruction methods often…