7 accepted papers
With the increasing prominence of large language models (LLMs), evaluating their text-generation capabilities has become an essential research challenge. Although LLM-based evaluation methods exhibit robust performance, the inherent stochastic nature of the LLM generation process introduces a degree…
In this work, we propose a training-free method to inject visual prompts into Multimodal Large Language Models (MLLMs) through learnable latent variable optimization. We observe that attention, as the core module of MLLMs, connects text prompt tokens and visual tokens, ultimately determining the fin…
The issue of hallucinations is a prevalent concern in existing Large Vision-Language Models (LVLMs). Previous efforts have primarily focused on investigating object hallucinations, which can be easily alleviated by introducing object detectors. However, these efforts neglect hallucinations in inter-…
Huge progress has been made in LiDAR 3D semantic segmentation, but there are two under-explored imbalances on the radial axis: points are unevenly concentrated on the near side, and the distribution of foreground object instances is skewed to the near side. This leads the training of the model to fa…
Acquiring dynamics is critical for robot learning and is fundamental to planning and control. This paper concerns two fundamental questions: How can we learn a model that covers massive, diverse robot dynamics? Can we construct a model that lifts the data-collection pain and domain expertise require…
LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while the robust multi-modal solution is under-explored, where we…
"We propose a new and effective self-distillation framework with our new Test-Time Augmentation (TTA) and Transformer based Voxel Feature Encoder (TransVFE) for robust LiDAR semantic segmentation in autonomous driving, where the robustness is mission-critical but usually neglected. The proposed fram…