Yilun Chen

Yanwei Li, Yilun Chen, Xiaojuan Qi et al.

In this work, we present a unified framework for multi-modality 3D object detection, named UVTR. The proposed method aims to unify multi-modality representations in the voxel space for accurate and robust single- or cross-modality 3D detection. To this end, the modality-specific space is first designed to represent different inputs in the voxel feature space. Different from previous work, our approach preserves the voxel space without height compression to alleviate semantic ambiguity and enable spatial connections. To make full use of the inputs from different sensors, the cross-modality interaction is then proposed, including knowledge transfer and modality fusion. In this way, geometry-aware expressions in point clouds and context-rich features in images are well utilized for better performance and robustness. The transformer decoder is applied to efficiently sample features from the unified space with learnable positions, which facilitates object-level interactions. In general, UVTR presents an early attempt to represent different modalities in a unified framework. It surpasses previous work in single- or multi-modality entries. The proposed method achieves leading performance in the nuScenes test set for both object detection and the following object tracking task. Code is made publicly available at https://github.com/dvlab-research/UVTR.

Shijia Huang, Yilun Chen, Jiaya Jia et al.

The 3D visual grounding task aims to ground a natural language description to the targeted object in a 3D scene, which is usually represented in 3D point clouds. Previous works studied visual grounding under specific views. The vision-language correspondence learned by this way can easily fail once the view changes. In this paper, we propose a Multi-View Transformer (MVT) for 3D visual grounding. We project the 3D scene to a multi-view space, in which the position information of the 3D scene under different views are modeled simultaneously and aggregated together. The multi-view space enables the network to learn a more robust multi-modal representation for 3D visual grounding and eliminates the dependence on specific views. Extensive experiments show that our approach significantly outperforms all state-of-the-art methods. Specifically, on Nr3D and Sr3D datasets, our method outperforms the best competitor by 11.2% and 7.1% and even surpasses recent work with extra 2D assistance by 5.9% and 6.6%. Our code is available at https://github.com/sega-hsj/MVT-3DVG.

Yilun Chen, Zhiding Yu, Yukang Chen et al.

False negatives (FN) in 3D object detection, {\em e.g.}, missing predictions of pedestrians, vehicles, or other obstacles, can lead to potentially dangerous situations in autonomous driving. While being fatal, this issue is understudied in many current 3D detection methods. In this work, we propose Hard Instance Probing (HIP), a general pipeline that identifies \textit{FN} in a multi-stage manner and guides the models to focus on excavating difficult instances. For 3D object detection, we instantiate this method as FocalFormer3D, a simple yet effective detector that excels at excavating difficult objects and improving prediction recall. FocalFormer3D features a multi-stage query generation to discover hard objects and a box-level transformer decoder to efficiently distinguish objects from massive object candidates. Experimental results on the nuScenes and Waymo datasets validate the superior performance of FocalFormer3D. The advantage leads to strong performance on both detection and tracking, in both LiDAR and multi-modal settings. Notably, FocalFormer3D achieves a 70.5 mAP and 73.9 NDS on nuScenes detection benchmark, while the nuScenes tracking benchmark shows 72.1 AMOTA, both ranking 1st place on the nuScenes LiDAR leaderboard. Our code is available at \url{https://github.com/NVlabs/FocalFormer3D}.

Yilun Chen, Shijia Huang, Shu Liu et al.

Camera-based 3D object detectors are welcome due to their wider deployment and lower price than LiDAR sensors. We first revisit the prior stereo detector DSGN for its stereo volume construction ways for representing both 3D geometry and semantics. We polish the stereo modeling and propose the advanced version, DSGN++, aiming to enhance effective information flow throughout the 2D-to-3D pipeline in three main aspects. First, to effectively lift the 2D information to stereo volume, we propose depth-wise plane sweeping (DPS) that allows denser connections and extracts depth-guided features. Second, for grasping differently spaced features, we present a novel stereo volume -- Dual-view Stereo Volume (DSV) that integrates front-view and top-view features and reconstructs sub-voxel depth in the camera frustum. Third, as the foreground region becomes less dominant in 3D space, we propose a multi-modal data editing strategy -- Stereo-LiDAR Copy-Paste, which ensures cross-modal alignment and improves data efficiency. Without bells and whistles, extensive experiments in various modality setups on the popular KITTI benchmark show that our method consistently outperforms other camera-based 3D detectors for all categories. Code is available at https://github.com/chenyilun95/DSGN2.

Runsen Xu, Xiaolong Wang, Tai Wang et al.

The unprecedented advancements in Large Language Models (LLMs) have shown a profound impact on natural language processing but are yet to fully embrace the realm of 3D understanding. This paper introduces PointLLM, a preliminary effort to fill this gap, enabling LLMs to understand point clouds and offering a new avenue beyond 2D visual data. PointLLM understands colored object point clouds with human instructions and generates contextually appropriate responses, illustrating its grasp of point clouds and common sense. Specifically, it leverages a point cloud encoder with a powerful LLM to effectively fuse geometric, appearance, and linguistic information. We collect a novel dataset comprising 660K simple and 70K complex point-text instruction pairs to enable a two-stage training strategy: aligning latent spaces and subsequently instruction-tuning the unified model. To rigorously evaluate the perceptual and generalization capabilities of PointLLM, we establish two benchmarks: Generative 3D Object Classification and 3D Object Captioning, assessed through three different methods, including human evaluation, GPT-4/ChatGPT evaluation, and traditional metrics. Experimental results reveal PointLLM's superior performance over existing 2D and 3D baselines, with a notable achievement in human-evaluated object captioning tasks where it surpasses human annotators in over 50% of the samples. Codes, datasets, and benchmarks are available at https://github.com/OpenRobotLab/PointLLM .

Tao Hu, Shu Liu, Yilun Chen et al.

Neural Radiance Fields (NeRF) has been wildly applied to various tasks for its high-quality representation of 3D scenes. It takes long per-scene training time and per-image testing time. In this paper, we present EfficientNeRF as an efficient NeRF-based method to represent 3D scene and synthesize novel-view images. Although several ways exist to accelerate the training or testing process, it is still difficult to much reduce time for both phases simultaneously. We analyze the density and weight distribution of the sampled points then propose valid and pivotal sampling at the coarse and fine stage, respectively, to significantly improve sampling efficiency. In addition, we design a novel data structure to cache the whole scene during testing to accelerate the rendering speed. Overall, our method can reduce over 88\% of training time, reach rendering speed of over 200 FPS, while still achieving competitive accuracy. Experiments prove that our method promotes the practicality of NeRF in the real world and enables many applications.

Xuyang Bai, Zeyu Hu, Xinge Zhu et al.

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor misalignment, is under-explored. Existing fusion methods are easily affected by such conditions, mainly due to a hard association of LiDAR points and image pixels, established by calibration matrices. We propose TransFusion, a robust solution to LiDAR-camera fusion with a soft-association mechanism to handle inferior image conditions. Specifically, our TransFusion consists of convolutional backbones and a detection head based on a transformer decoder. The first layer of the decoder predicts initial bounding boxes from a LiDAR point cloud using a sparse set of object queries, and its second decoder layer adaptively fuses the object queries with useful image features, leveraging both spatial and contextual relationships. The attention mechanism of the transformer enables our model to adaptively determine where and what information should be taken from the image, leading to a robust and effective fusion strategy. We additionally design an image-guided query initialization strategy to deal with objects that are difficult to detect in point clouds. TransFusion achieves state-of-the-art performance on large-scale datasets. We provide extensive experiments to demonstrate its robustness against degenerated image quality and calibration errors. We also extend the proposed method to the 3D tracking task and achieve the 1st place in the leaderboard of nuScenes tracking, showing its effectiveness and generalization capability.

Zhe Wang, Siqi Fan, Xiaoliang Huo et al.

In autonomous driving, Vehicle-Infrastructure Cooperative 3D Object Detection (VIC3D) makes use of multi-view cameras from both vehicles and traffic infrastructure, providing a global vantage point with rich semantic context of road conditions beyond a single vehicle viewpoint. Two major challenges prevail in VIC3D: 1) inherent calibration noise when fusing multi-view images, caused by time asynchrony across cameras; 2) information loss when projecting 2D features into 3D space. To address these issues, We propose a novel 3D object detection framework, Vehicles-Infrastructure Multi-view Intermediate fusion (VIMI). First, to fully exploit the holistic perspectives from both vehicles and infrastructure, we propose a Multi-scale Cross Attention (MCA) module that fuses infrastructure and vehicle features on selective multi-scales to correct the calibration noise introduced by camera asynchrony. Then, we design a Camera-aware Channel Masking (CCM) module that uses camera parameters as priors to augment the fused features. We further introduce a Feature Compression (FC) module with channel and spatial compression blocks to reduce the size of transmitted features for enhanced efficiency. Experiments show that VIMI achieves 15.61% overall AP_3D and 21.44% AP_BEV on the new VIC3D dataset, DAIR-V2X-C, significantly outperforming state-of-the-art early fusion and late fusion methods with comparable transmission cost.

Haotian Liang, Xinyi Chen, Bin Wang et al.

A generalist robotic policy needs both semantic understanding for task planning and the ability to interact with the environment through predictive capabilities. To tackle this, we present MM-ACT, a unified Vision-Language-Action (VLA) model that integrates text, image, and action in shared token space and performs generation across all three modalities. MM-ACT adopts a re-mask parallel decoding strategy for text and image generation, and employs a one-step parallel decoding strategy for action generation to improve efficiency. We introduce Context-Shared Multimodal Learning, a unified training paradigm that supervises generation in all three modalities from a shared context, enhancing action generation through cross-modal learning. Experiments were conducted on the LIBERO simulation and Franka real-robot setups as well as RoboTwin2.0 to assess in-domain and out-of-domain performances respectively. Our approach achieves a success rate of 96.3% on LIBERO, 72.0% across three tasks of real Franka, and 52.38% across eight bimanual tasks of RoboTwin2.0 with an additional gain of 9.25% from cross-modal learning. We release our codes, models and data at https://github.com/HHYHRHY/MM-ACT.

Bu Jin, Yupeng Zheng, Pengfei Li et al.

3D dense captioning stands as a cornerstone in achieving a comprehensive understanding of 3D scenes through natural language. It has recently witnessed remarkable achievements, particularly in indoor settings. However, the exploration of 3D dense captioning in outdoor scenes is hindered by two major challenges: 1) the domain gap between indoor and outdoor scenes, such as dynamics and sparse visual inputs, makes it difficult to directly adapt existing indoor methods; 2) the lack of data with comprehensive box-caption pair annotations specifically tailored for outdoor scenes. To this end, we introduce the new task of outdoor 3D dense captioning. As input, we assume a LiDAR point cloud and a set of RGB images captured by the panoramic camera rig. The expected output is a set of object boxes with captions. To tackle this task, we propose the TOD3Cap network, which leverages the BEV representation to generate object box proposals and integrates Relation Q-Former with LLaMA-Adapter to generate rich captions for these objects. We also introduce the TOD3Cap dataset, the largest one to our knowledge for 3D dense captioning in outdoor scenes, which contains 2.3M descriptions of 64.3K outdoor objects from 850 scenes. Notably, our TOD3Cap network can effectively localize and caption 3D objects in outdoor scenes, which outperforms baseline methods by a significant margin (+9.6 CiDEr@0.5IoU). Code, data, and models are publicly available at https://github.com/jxbbb/TOD3Cap.

Zhipeng Ma, Zheyan Tu, Xinhai Chen et al. · baidu, tsinghua

Trajectory representation learning plays a pivotal role in supporting various downstream tasks. Traditional methods in order to filter the noise in GPS trajectories tend to focus on routing-based methods used to simplify the trajectories. However, this approach ignores the motion details contained in the GPS data, limiting the representation capability of trajectory representation learning. To fill this gap, we propose a novel representation learning framework that Joint GPS and Route Modelling based on self-supervised technology, namely JGRM. We consider GPS trajectory and route as the two modes of a single movement observation and fuse information through inter-modal information interaction. Specifically, we develop two encoders, each tailored to capture representations of route and GPS trajectories respectively. The representations from the two modalities are fed into a shared transformer for inter-modal information interaction. Eventually, we design three self-supervised tasks to train the model. We validate the effectiveness of the proposed method on two real datasets based on extensive experiments. The experimental results demonstrate that JGRM outperforms existing methods in both road segment representation and trajectory representation tasks. Our source code is available at Anonymous Github.

Liuyi Wang, Xinyuan Xia, Hui Zhao et al.

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a physically realistic VLN platform supporting humanoid, quadruped, and wheeled robots. For the first time, we systematically evaluate several ego-centric VLN methods in physical robotic settings across different technical pipelines, including classification models for single-step discrete action prediction, a diffusion model for dense waypoint prediction, and a train-free, map-based large language model (LLM) integrated with path planning. Our results reveal significant performance degradation due to limited robot observation space, environmental lighting variations, and physical challenges like collisions and falls. This also exposes locomotion constraints for legged robots in complex environments. VLN-PE is highly extensible, allowing seamless integration of new scenes beyond MP3D, thereby enabling more comprehensive VLN evaluation. Despite the weak generalization of current models in physical deployment, VLN-PE provides a new pathway for improving cross-embodiment's overall adaptability. We hope our findings and tools inspire the community to rethink VLN limitations and advance robust, practical VLN models. The code is available at https://crystalsixone.github.io/vln_pe.github.io/.

Ruiyuan Lyu, Jingli Lin, Tai Wang et al.

With the emergence of LLMs and their integration with other data modalities, multi-modal 3D perception attracts more attention due to its connectivity to the physical world and makes rapid progress. However, limited by existing datasets, previous works mainly focus on understanding object properties or inter-object spatial relationships in a 3D scene. To tackle this problem, this paper builds the first largest ever multi-modal 3D scene dataset and benchmark with hierarchical grounded language annotations, MMScan. It is constructed based on a top-down logic, from region to object level, from a single target to inter-target relationships, covering holistic aspects of spatial and attribute understanding. The overall pipeline incorporates powerful VLMs via carefully designed prompts to initialize the annotations efficiently and further involve humans' correction in the loop to ensure the annotations are natural, correct, and comprehensive. Built upon existing 3D scanning data, the resulting multi-modal 3D dataset encompasses 1.4M meta-annotated captions on 109k objects and 7.7k regions as well as over 3.04M diverse samples for 3D visual grounding and question-answering benchmarks. We evaluate representative baselines on our benchmarks, analyze their capabilities in different aspects, and showcase the key problems to be addressed in the future. Furthermore, we use this high-quality dataset to train state-of-the-art 3D visual grounding and LLMs and obtain remarkable performance improvement both on existing benchmarks and in-the-wild evaluation. Codes, datasets, and benchmarks will be available at https://github.com/OpenRobotLab/EmbodiedScan.

Yilun Chen, Shu Liu, Xiaoyong Shen et al.

Most state-of-the-art 3D object detectors heavily rely on LiDAR sensors because there is a large performance gap between image-based and LiDAR-based methods. It is caused by the way to form representation for the prediction in 3D scenarios. Our method, called Deep Stereo Geometry Network (DSGN), significantly reduces this gap by detecting 3D objects on a differentiable volumetric representation -- 3D geometric volume, which effectively encodes 3D geometric structure for 3D regular space. With this representation, we learn depth information and semantic cues simultaneously. For the first time, we provide a simple and effective one-stage stereo-based 3D detection pipeline that jointly estimates the depth and detects 3D objects in an end-to-end learning manner. Our approach outperforms previous stereo-based 3D detectors (about 10 higher in terms of AP) and even achieves comparable performance with several LiDAR-based methods on the KITTI 3D object detection leaderboard. Our code is publicly available at https://github.com/chenyilun95/DSGN.

Yilun Chen, Zhicheng Wang, Yuxiang Peng et al.

The topic of multi-person pose estimation has been largely improved recently, especially with the development of convolutional neural network. However, there still exist a lot of challenging cases, such as occluded keypoints, invisible keypoints and complex background, which cannot be well addressed. In this paper, we present a novel network structure called Cascaded Pyramid Network (CPN) which targets to relieve the problem from these "hard" keypoints. More specifically, our algorithm includes two stages: GlobalNet and RefineNet. GlobalNet is a feature pyramid network which can successfully localize the "simple" keypoints like eyes and hands but may fail to precisely recognize the occluded or invisible keypoints. Our RefineNet tries explicitly handling the "hard" keypoints by integrating all levels of feature representations from the GlobalNet together with an online hard keypoint mining loss. In general, to address the multi-person pose estimation problem, a top-down pipeline is adopted to first generate a set of human bounding boxes based on a detector, followed by our CPN for keypoint localization in each human bounding box. Based on the proposed algorithm, we achieve state-of-art results on the COCO keypoint benchmark, with average precision at 73.0 on the COCO test-dev dataset and 72.1 on the COCO test-challenge dataset, which is a 19% relative improvement compared with 60.5 from the COCO 2016 keypoint challenge.Code (https://github.com/chenyilun95/tf-cpn.git) and the detection results are publicly available for further research.

Yilun Chen, Shuai Yang, Haifeng Huang et al.

Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-LLM, which explores the potential of 3D large multi-modal models (3D LMMs) to consolidate various 3D vision tasks within a unified generative framework. The model uses scene referent tokens as special noun phrases to reference 3D scenes, enabling it to handle sequences that interleave 3D and textual data. Per-task instruction-following templates are employed to ensure natural and diversity in translating 3D vision tasks into language formats. To facilitate the use of referent tokens in subsequent language modeling, we provide a large-scale, automatically curated grounded scene-text dataset with over 1 million phrase-to-region correspondences and introduce Contrastive Language-Scene Pre-training (CLASP) to perform phrase-level scene-text alignment using this data. Our comprehensive evaluation covers open-ended tasks like dense captioning and 3D question answering, alongside close-ended tasks such as object detection and language grounding. Experiments across multiple 3D benchmarks reveal the leading performance and the broad applicability of Grounded 3D-LLM. Code and datasets are available at the https://groundedscenellm.github.io/grounded_3d-llm.github.io.

Meng Wei, Chenyang Wan, Xiqian Yu et al.

Vision-and-Language Navigation (VLN) in real-world settings requires agents to process continuous visual streams and generate actions with low latency grounded in language instructions. While Video-based Large Language Models (Video-LLMs) have driven recent progress, current VLN methods based on Video-LLM often face trade-offs among fine-grained visual understanding, long-term context modeling and computational efficiency. We introduce StreamVLN, a streaming VLN framework that employs a hybrid slow-fast context modeling strategy to support multi-modal reasoning over interleaved vision, language and action inputs. The fast-streaming dialogue context facilitates responsive action generation through a sliding-window of active dialogues, while the slow-updating memory context compresses historical visual states using a 3D-aware token pruning strategy. With this slow-fast design, StreamVLN achieves coherent multi-turn dialogue through efficient KV cache reuse, supporting long video streams with bounded context size and inference cost. Experiments on VLN-CE benchmarks demonstrate state-of-the-art performance with stable low latency, ensuring robustness and efficiency in real-world deployment. The project page is: \href{https://streamvln.github.io/}{https://streamvln.github.io/}.

Zhe Wang, Siqi Fan, Xiaoliang Huo et al.

In autonomous driving, cooperative perception makes use of multi-view cameras from both vehicles and infrastructure, providing a global vantage point with rich semantic context of road conditions beyond a single vehicle viewpoint. Currently, two major challenges persist in vehicle-infrastructure cooperative 3D (VIC3D) object detection: $1)$ inherent pose errors when fusing multi-view images, caused by time asynchrony across cameras; $2)$ information loss in transmission process resulted from limited communication bandwidth. To address these issues, we propose a novel camera-based 3D detection framework for VIC3D task, Enhanced Multi-scale Image Feature Fusion (EMIFF). To fully exploit holistic perspectives from both vehicles and infrastructure, we propose Multi-scale Cross Attention (MCA) and Camera-aware Channel Masking (CCM) modules to enhance infrastructure and vehicle features at scale, spatial, and channel levels to correct the pose error introduced by camera asynchrony. We also introduce a Feature Compression (FC) module with channel and spatial compression blocks for transmission efficiency. Experiments show that EMIFF achieves SOTA on DAIR-V2X-C datasets, significantly outperforming previous early-fusion and late-fusion methods with comparable transmission costs.

Xiang Li, Pengfei Li, Yupeng Zheng et al. · tsinghua

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 surrounding scenes based on current observation. However, 3D occupancy labels are still required to produce promising results. Considering the high annotation cost for 3D outdoor scenes, we propose a semi-supervised vision-centric 3D occupancy world model, PreWorld, to leverage the potential of 2D labels through a novel two-stage training paradigm: the self-supervised pre-training stage and the fully-supervised fine-tuning stage. Specifically, during the pre-training stage, we utilize an attribute projection head to generate different attribute fields of a scene (e.g., RGB, density, semantic), thus enabling temporal supervision from 2D labels via volume rendering techniques. Furthermore, we introduce a simple yet effective state-conditioned forecasting module to recursively forecast future occupancy and ego trajectory in a direct manner. Extensive experiments on the nuScenes dataset validate the effectiveness and scalability of our method, and demonstrate that PreWorld achieves competitive performance across 3D occupancy prediction, 4D occupancy forecasting and motion planning tasks.

Zhe Wang, Shaocong Xu, Xucai Zhuang et al.

Cooperative perception enhances the individual perception capabilities of autonomous vehicles (AVs) by providing a comprehensive view of the environment. However, balancing perception performance and transmission costs remains a significant challenge. Current approaches that transmit region-level features across agents are limited in interpretability and demand substantial bandwidth, making them unsuitable for practical applications. In this work, we propose CoopDETR, a novel cooperative perception framework that introduces object-level feature cooperation via object query. Our framework consists of two key modules: single-agent query generation, which efficiently encodes raw sensor data into object queries, reducing transmission cost while preserving essential information for detection; and cross-agent query fusion, which includes Spatial Query Matching (SQM) and Object Query Aggregation (OQA) to enable effective interaction between queries. Our experiments on the OPV2V and V2XSet datasets demonstrate that CoopDETR achieves state-of-the-art performance and significantly reduces transmission costs to 1/782 of previous methods.

Jinliang Zheng, Jianxiong Li, Zhihao Wang et al. · tsinghua

Successful generalist Vision-Language-Action (VLA) models rely on effective training across diverse robotic platforms with large-scale, cross-embodiment, heterogeneous datasets. To facilitate and leverage the heterogeneity in rich, diverse robotic data sources, we propose a novel Soft Prompt approach with minimally added parameters, by infusing prompt learning concepts into cross-embodiment robot learning and introducing separate sets of learnable embeddings for each distinct data source. These embeddings serve as embodiment-specific prompts, which in unity empower VLA models with effective exploitation of varying cross-embodiment features. Our new X-VLA, a neat flow-matching-based VLA architecture, relies exclusively on soft-prompted standard Transformer encoders, enjoying both scalability and simplicity. Evaluated across 6 simulations as well as 3 real-world robots, our 0.9B instantiation-X-VLA-0.9B simultaneously achieves SOTA performance over a sweep of benchmarks, demonstrating superior results on a wide axes of capabilities, from flexible dexterity to quick adaptation across embodiments, environments, and tasks. Website: https://thu-air-dream.github.io/X-VLA/

Shuai Yang, Hao Li, Yilun Chen et al.

To operate effectively in the real world, robots must integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to task-specific manipulation data, and suffer catastrophic forgetting of pre-trained vision-language capabilities. To bridge this gap, we introduce InstructVLA, an end-to-end VLA model that preserves the flexible reasoning of large vision-language models (VLMs) while delivering leading manipulation performance. InstructVLA introduces a novel training paradigm, Vision-Language-Action Instruction Tuning (VLA-IT), which employs multimodal training with mixture-of-experts adaptation to jointly optimize textual reasoning and action generation on both standard VLM corpora and a curated 650K-sample VLA-IT dataset. On in-domain SimplerEnv tasks, InstructVLA achieves 30.5% improvement over SpatialVLA. To evaluate generalization, we introduce SimplerEnv-Instruct, an 80-task benchmark requiring closed-loop control and high-level instruction understanding, where it outperforms a fine-tuned OpenVLA by 92% and an action expert aided by GPT-4o by 29%. Additionally, InstructVLA surpasses baseline VLMs on multimodal tasks and exhibits inference-time scaling by leveraging textual reasoning to boost manipulation performance in both simulated and real-world settings. These results demonstrate InstructVLA's potential for bridging intuitive and steerable human-robot interaction with efficient policy learning.

Yilun Chen, Shu Liu, Xiaoyong Shen et al.

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network, with voxel representation as input, only consists of light convolutional operations, producing a small number of high-quality initial predictions. Coordinate and indexed convolutional feature of each point in initial prediction are effectively fused with the attention mechanism, preserving both accurate localization and context information. The second stage works on interior points with their fused feature for further refining the prediction. Our method is evaluated on KITTI dataset, in terms of both 3D and Bird's Eye View (BEV) detection, and achieves state-of-the-arts with a 15FPS detection rate.

Yilun Chen, Praveen Palanisamy, Priyantha Mudalige et al.

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using one convolutional neural network. In this paper, we leverage auxiliary information aside from raw images and design a novel network structure, called Auxiliary Task Network (ATN), to help boost the driving performance while maintaining the advantage of minimal training data and an End-to-End training method. In this network, we introduce human prior knowledge into vehicle navigation by transferring features from image recognition tasks. Image semantic segmentation is applied as an auxiliary task for navigation. We consider temporal information by introducing an LSTM module and optical flow to the network. Finally, we combine vehicle kinematics with a sensor fusion step. We discuss the benefits of our method over state-of-the-art visual navigation methods both in the Udacity simulation environment and on the real-world Comma.ai dataset.