Daily Papers

Human-level driving is an ultimate goal of autonomous driving. Conventional approaches formulate autonomous driving as a perception-prediction-planning framework, yet their systems do not capitalize on the inherent reasoning ability and experiential knowledge of humans. In this paper, we propose a fundamental paradigm shift from current pipelines, exploiting Large Language Models (LLMs) as a cognitive agent to integrate human-like intelligence into autonomous driving systems. Our approach, termed Agent-Driver, transforms the traditional autonomous driving pipeline by introducing a versatile tool library accessible via function calls, a cognitive memory of common sense and experiential knowledge for decision-making, and a reasoning engine capable of chain-of-thought reasoning, task planning, motion planning, and self-reflection. Powered by LLMs, our Agent-Driver is endowed with intuitive common sense and robust reasoning capabilities, thus enabling a more nuanced, human-like approach to autonomous driving. We evaluate our approach on the large-scale nuScenes benchmark, and extensive experiments substantiate that our Agent-Driver significantly outperforms the state-of-the-art driving methods by a large margin. Our approach also demonstrates superior interpretability and few-shot learning ability to these methods. Code will be released.

Traffic elements such as traffic lights and road signs play a fundamental role in human driving decisions and should naturally influence end-to-end driving performance. However, existing end-to-end driving research predominantly focuses on dynamic road participants (e.g., vehicles and pedestrians), while the role of traffic elements remains largely unexplored. The community still lacks a systematic study quantifying their impact, largely because public datasets rarely provide structured traffic-element annotations and modern driving systems vary widely in architecture and training paradigm. In this work, we present the first systematic investigation of traffic element awareness for end-to-end autonomous driving. We construct a unified research infrastructure by augmenting multiple public driving datasets with comprehensive traffic-element annotations. To support diverse model families, we adopt a minimal and universal integration design that incorporates traffic-element signals into existing pipelines in a plug-and-play manner with negligible architectural modification. We evaluate this design across modern paradigms, including perception-prediction-planning pipelines, vision-language-action models (VLA), regression-based planners, diffusion-based policies, and trajectory-scoring frameworks, on nuScenes, NAVSIM-v1, NAVSIM-v2, and Bench2Drive. Across all paradigms and datasets, this simple integration consistently improves driving performance, demonstrating that traffic element awareness provides a robust and generalizable signal for end-to-end driving systems. Notably, on the challenging NAVSIM-v2 benchmark, our approach significantly improves state-of-the-art architectures and data pipelines, establishing a new state of the art.

Although multi-modal large language models (MLLMs) have shown strong capabilities across diverse domains, their application in generating fine-grained 3D perception and prediction outputs in autonomous driving remains underexplored. In this paper, we propose DrivePI, a novel spatial-aware 4D MLLM that serves as a unified Vision-Language-Action (VLA) framework that is also compatible with vision-action (VA) models. Our method jointly performs spatial understanding, 3D perception (i.e., 3D occupancy), prediction (i.e., occupancy flow), and planning (i.e., action outputs) in parallel through end-to-end optimization. To obtain both precise geometric information and rich visual appearance, our approach integrates point clouds, multi-view images, and language instructions within a unified MLLM architecture. We further develop a data engine to generate text-occupancy and text-flow QA pairs for 4D spatial understanding. Remarkably, with only a 0.5B Qwen2.5 model as MLLM backbone, DrivePI as a single unified model matches or exceeds both existing VLA models and specialized VA models. Specifically, compared to VLA models, DrivePI outperforms OpenDriveVLA-7B by 2.5% mean accuracy on nuScenes-QA and reduces collision rate by 70% over ORION (from 0.37% to 0.11%) on nuScenes. Against specialized VA models, DrivePI surpasses FB-OCC by 10.3 RayIoU for 3D occupancy on OpenOcc, reduces the mAVE from 0.591 to 0.509 for occupancy flow on OpenOcc, and achieves 32% lower L2 error than VAD (from 0.72m to 0.49m) for planning on nuScenes. Code will be available at https://github.com/happinesslz/DrivePI

Embodied navigation for long-horizon tasks, guided by complex natural language instructions, remains a formidable challenge in artificial intelligence. Existing agents often struggle with robust long-term planning about unseen environments, leading to high failure rates. To address these limitations, we introduce NavForesee, a novel Vision-Language Model (VLM) that unifies high-level language planning and predictive world model imagination within a single, unified framework. Our approach empowers a single VLM to concurrently perform planning and predictive foresight. Conditioned on the full instruction and historical observations, the model is trained to understand the navigation instructions by decomposing the task, tracking its progress, and formulating the subsequent sub-goal. Simultaneously, it functions as a generative world model, providing crucial foresight by predicting short-term environmental dynamics and long-term navigation milestones. The VLM's structured plan guides its targeted prediction, while the imagined future provides rich context to inform the navigation actions, creating a powerful internal feedback loop of perception-planning/prediction-action. We demonstrate through extensive experiments on the R2R-CE and RxR-CE benchmark that NavForesee achieves highly competitive performance in complex scenarios. Our work highlights the immense potential of fusing explicit language planning with implicit spatiotemporal prediction, paving the way for more intelligent and capable embodied agents.

End-to-end autonomous driving unifies tasks in a differentiable framework, enabling planning-oriented optimization and attracting growing attention. Current methods aggregate historical information either through dense historical bird's-eye-view (BEV) features or by querying a sparse memory bank, following paradigms inherited from detection. However, we argue that these paradigms either omit historical information in motion planning or fail to align with its multi-step nature, which requires predicting or planning multiple future time steps. In line with the philosophy of future is a continuation of past, we propose BridgeAD, which reformulates motion and planning queries as multi-step queries to differentiate the queries for each future time step. This design enables the effective use of historical prediction and planning by applying them to the appropriate parts of the end-to-end system based on the time steps, which improves both perception and motion planning. Specifically, historical queries for the current frame are combined with perception, while queries for future frames are integrated with motion planning. In this way, we bridge the gap between past and future by aggregating historical insights at every time step, enhancing the overall coherence and accuracy of the end-to-end autonomous driving pipeline. Extensive experiments on the nuScenes dataset in both open-loop and closed-loop settings demonstrate that BridgeAD achieves state-of-the-art performance.

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary approaches either deploy standalone models for individual tasks, or design a multi-task paradigm with separate heads. However, they might suffer from accumulative errors or deficient task coordination. Instead, we argue that a favorable framework should be devised and optimized in pursuit of the ultimate goal, i.e., planning of the self-driving car. Oriented at this, we revisit the key components within perception and prediction, and prioritize the tasks such that all these tasks contribute to planning. We introduce Unified Autonomous Driving (UniAD), a comprehensive framework up-to-date that incorporates full-stack driving tasks in one network. It is exquisitely devised to leverage advantages of each module, and provide complementary feature abstractions for agent interaction from a global perspective. Tasks are communicated with unified query interfaces to facilitate each other toward planning. We instantiate UniAD on the challenging nuScenes benchmark. With extensive ablations, the effectiveness of using such a philosophy is proven by substantially outperforming previous state-of-the-arts in all aspects. Code and models are public.

Recent studies have presented compelling evidence that large language models (LLMs) can equip embodied agents with the self-driven capability to interact with the world, which marks an initial step toward versatile robotics. However, these efforts tend to overlook the visual richness of open worlds, rendering the entire interactive process akin to "a blindfolded text-based game." Consequently, LLM-based agents frequently encounter challenges in intuitively comprehending their surroundings and producing responses that are easy to understand. In this paper, we propose Steve-Eye, an end-to-end trained large multimodal model designed to address this limitation. Steve-Eye integrates the LLM with a visual encoder which enables it to process visual-text inputs and generate multimodal feedback. In addition, we use a semi-automatic strategy to collect an extensive dataset comprising 850K open-world instruction pairs, empowering our model to encompass three essential functions for an agent: multimodal perception, foundational knowledge base, and skill prediction and planning. Lastly, we develop three open-world evaluation benchmarks, then carry out extensive experiments from a wide range of perspectives to validate our model's capability to strategically act and plan. Codes and datasets will be released.

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great scalability. However, these methods typically rely on deterministic modeling of online maps in the perception module for guiding or constraining vehicle planning, which may incorporate erroneous perception information and further compromise planning safety. To address this issue, we delve into the importance of online map uncertainty for enhancing autonomous driving safety and propose a novel paradigm named UncAD. Specifically, UncAD first estimates the uncertainty of the online map in the perception module. It then leverages the uncertainty to guide motion prediction and planning modules to produce multi-modal trajectories. Finally, to achieve safer autonomous driving, UncAD proposes an uncertainty-collision-aware planning selection strategy according to the online map uncertainty to evaluate and select the best trajectory. In this study, we incorporate UncAD into various state-of-the-art (SOTA) end-to-end methods. Experiments on the nuScenes dataset show that integrating UncAD, with only a 1.9% increase in parameters, can reduce collision rates by up to 26% and drivable area conflict rate by up to 42%. Codes, pre-trained models, and demo videos can be accessed at https://github.com/pengxuanyang/UncAD.

We study how vision-language models (VLMs) trained on web-scale data can be integrated into end-to-end driving systems to boost generalization and enable interactivity with human users. While recent approaches adapt VLMs to driving via single-round visual question answering (VQA), human drivers reason about decisions in multiple steps. Starting from the localization of key objects, humans estimate object interactions before taking actions. The key insight is that with our proposed task, Graph VQA, where we model graph-structured reasoning through perception, prediction and planning question-answer pairs, we obtain a suitable proxy task to mimic the human reasoning process. We instantiate datasets (DriveLM-Data) built upon nuScenes and CARLA, and propose a VLM-based baseline approach (DriveLM-Agent) for jointly performing Graph VQA and end-to-end driving. The experiments demonstrate that Graph VQA provides a simple, principled framework for reasoning about a driving scene, and DriveLM-Data provides a challenging benchmark for this task. Our DriveLM-Agent baseline performs end-to-end autonomous driving competitively in comparison to state-of-the-art driving-specific architectures. Notably, its benefits are pronounced when it is evaluated zero-shot on unseen objects or sensor configurations. We hope this work can be the starting point to shed new light on how to apply VLMs for autonomous driving. To facilitate future research, all code, data, and models are available to the public.

Current state-of-the-art autonomous vehicles could face safety-critical situations when their local sensors are occluded by large nearby objects on the road. Vehicle-to-vehicle (V2V) cooperative autonomous driving has been proposed as a means of addressing this problem, and one recently introduced framework for cooperative autonomous driving has further adopted an approach that incorporates a Multimodal Large Language Model (MLLM) to integrate cooperative perception and planning processes. However, despite the potential benefit of applying graph-of-thoughts reasoning to the MLLM, this idea has not been considered by previous cooperative autonomous driving research. In this paper, we propose a novel graph-of-thoughts framework specifically designed for MLLM-based cooperative autonomous driving. Our graph-of-thoughts includes our proposed novel ideas of occlusion-aware perception and planning-aware prediction. We curate the V2V-GoT-QA dataset and develop the V2V-GoT model for training and testing the cooperative driving graph-of-thoughts. Our experimental results show that our method outperforms other baselines in cooperative perception, prediction, and planning tasks.

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well studied, navigating dynamic environments remains open due to challenges in perception and planning. Payload limitations restrict the robots to using cameras with limited fields of view, resulting in unreliable perception and tracking during collision avoidance. Moreover, the rapidly changing conditions of dynamic environments can quickly make the generated optimal trajectory outdated.To address these challenges, this paper presents a comprehensive navigation framework that integrates perception, intent prediction, and planning. Our perception module detects and tracks dynamic obstacles efficiently and handles tracking loss and occlusion during collision avoidance. The proposed intent prediction module employs a Markov Decision Process (MDP) to forecast potential actions of dynamic obstacles with the possible future trajectories. Finally, a novel intent-based planning algorithm, leveraging model predictive control (MPC), is applied to generate navigation trajectories. Simulation and physical experiments demonstrate that our method improves the safety of navigation by achieving the fewest collisions compared to benchmarks.

Despite remarkable progress in driving world models, their potential for autonomous systems remains largely untapped: the world models are mostly learned for world simulation and decoupled from trajectory planning. While recent efforts aim to unify world modeling and planning in a single framework, the synergistic facilitation mechanism of world modeling for planning still requires further exploration. In this work, we introduce a new driving paradigm named Policy World Model (PWM), which not only integrates world modeling and trajectory planning within a unified architecture, but is also able to benefit planning using the learned world knowledge through the proposed action-free future state forecasting scheme. Through collaborative state-action prediction, PWM can mimic the human-like anticipatory perception, yielding more reliable planning performance. To facilitate the efficiency of video forecasting, we further introduce a dynamically enhanced parallel token generation mechanism, equipped with a context-guided tokenizer and an adaptive dynamic focal loss. Despite utilizing only front camera input, our method matches or exceeds state-of-the-art approaches that rely on multi-view and multi-modal inputs. Code and model weights will be released at https://github.com/6550Zhao/Policy-World-Model.

Vision-Language-Action (VLA) models have recently emerged in autonomous driving, with the promise of leveraging rich world knowledge to improve the cognitive capabilities of driving systems. However, adapting such models for driving tasks currently faces a critical dilemma between spatial perception and semantic reasoning. Consequently, existing VLA systems are forced into suboptimal compromises: directly adopting 2D Vision-Language Models yields limited spatial perception, whereas enhancing them with 3D spatial representations often impairs the native reasoning capacity of VLMs. We argue that this dilemma largely stems from the coupled optimization of spatial perception and semantic reasoning within shared model parameters. To overcome this, we propose UniDriveVLA, a Unified Driving Vision-Language-Action model based on Mixture-of-Transformers that addresses the perception-reasoning conflict via expert decoupling. Specifically, it comprises three experts for driving understanding, scene perception, and action planning, which are coordinated through masked joint attention. In addition, we combine a sparse perception paradigm with a three-stage progressive training strategy to improve spatial perception while maintaining semantic reasoning capability. Extensive experiments show that UniDriveVLA achieves state-of-the-art performance in open-loop evaluation on nuScenes and closed-loop evaluation on Bench2Drive. Moreover, it demonstrates strong performance across a broad range of perception, prediction, and understanding tasks, including 3D detection, online mapping, motion forecasting, and driving-oriented VQA, highlighting its broad applicability as a unified model for autonomous driving. Code and model have been released at https://github.com/xiaomi-research/unidrivevla

Research interest in end-to-end autonomous driving has surged owing to its fully differentiable design integrating modular tasks, i.e. perception, prediction and planing, which enables optimization in pursuit of the ultimate goal. Despite the great potential of the end-to-end paradigm, existing methods suffer from several aspects including expensive BEV (bird's eye view) computation, action diversity, and sub-optimal decision in complex real-world scenarios. To address these challenges, we propose a novel hybrid sparse-dense diffusion policy, empowered by a Vision-Language Model (VLM), called Diff-VLA. We explore the sparse diffusion representation for efficient multi-modal driving behavior. Moreover, we rethink the effectiveness of VLM driving decision and improve the trajectory generation guidance through deep interaction across agent, map instances and VLM output. Our method shows superior performance in Autonomous Grand Challenge 2025 which contains challenging real and reactive synthetic scenarios. Our methods achieves 45.0 PDMS.

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end Vision-Language-Action (VLA) offers promising capabilities but lacks crucial mechanisms for anticipating and recovering from failure. To address these challenges, we propose FPC-VLA, a dual-model framework that integrates VLA with a supervisor for failure prediction and correction. The supervisor evaluates action viability through vision-language queries and generates corrective strategies when risks arise, trained efficiently without manual labeling. A dual-stream fusion module further refines actions by leveraging past predictions. Evaluation results on multiple simulation platforms (SIMPLER and LIBERO) and robot embodiments (WidowX, Google Robot, Franka) show that FPC-VLA outperforms state-of-the-art models in both zero-shot and fine-tuned settings. Successful real-world deployments on diverse, long-horizon tasks confirm FPC-VLA's strong generalization and practical utility for building more reliable autonomous systems.

Vehicle-to-everything technologies (V2X) have become an ideal paradigm to extend the perception range and see through the occlusion. Exiting efforts focus on single-frame cooperative perception, however, how to capture the temporal cue between frames with V2X to facilitate the prediction task even the planning task is still underexplored. In this paper, we introduce the Co-MTP, a general cooperative trajectory prediction framework with multi-temporal fusion for autonomous driving, which leverages the V2X system to fully capture the interaction among agents in both history and future domains to benefit the planning. In the history domain, V2X can complement the incomplete history trajectory in single-vehicle perception, and we design a heterogeneous graph transformer to learn the fusion of the history feature from multiple agents and capture the history interaction. Moreover, the goal of prediction is to support future planning. Thus, in the future domain, V2X can provide the prediction results of surrounding objects, and we further extend the graph transformer to capture the future interaction among the ego planning and the other vehicles' intentions and obtain the final future scenario state under a certain planning action. We evaluate the Co-MTP framework on the real-world dataset V2X-Seq, and the results show that Co-MTP achieves state-of-the-art performance and that both history and future fusion can greatly benefit prediction.

We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied AI. MiMo-Embodied sets new records across 17 embodied AI benchmarks in Task Planning, Affordance Prediction and Spatial Understanding, while also excelling in 12 autonomous driving benchmarks across Environmental Perception, Status Prediction, and Driving Planning. Across these tasks, MiMo-Embodied significantly outperforms existing open-source, closed-source, and specialized baselines. Our results indicate that through multi-stage learning, curated data construction, and CoT/RL fine-tuning, these two domains exhibit strong positive transfer and mutually reinforce one another. We provide a detailed analysis of our model design and training methodologies to facilitate further research. Code and models are available at https://github.com/XiaomiMiMo/MiMo-Embodied.

Cellular vehicle-to-everything (C-V2X) enables cooperative perception, prediction, and planning beyond the field of view of individual agents. However, existing datasets often overlook the complexities of real-world deployment, such as limited communication bandwidth and its dynamics, heterogeneous sensing modalities, and scalability beyond a single cooperative partner. In this paper, we introduce CooperScene, a high-fidelity cooperative autonomy dataset with real-world C-V2X communication characterization. The dataset is organized into diverse scenes, including intersections, highway ramps, and parking lots. These scenes involve three connected and autonomous vehicles (CAVs) and one infrastructure roadside unit (RSU), all equipped with multi-modal sensors and commercial off-the-shelf C-V2X communication radios. All scenes are annotated with globally consistent 3D labels at 10 Hz, totaling 344K objects across 59K frames, underpinned by tight sensor- and agent-synchronization, centimeter-level localization and spatial alignment, precise cross-modality calibration, and 3GPP-standard-compliant C-V2X communication. CooperScene establishes a rigorous benchmark for evaluating multi-agent scaling and actual performance in real-world deployable settings. Project website for data and benchmark: https://cisl.ucr.edu/CooperScene

Autonomous driving demands an integrated approach that encompasses perception, prediction, and planning, all while operating under strict energy constraints to enhance scalability and environmental sustainability. We present Spiking Autonomous Driving (SAD), the first unified Spiking Neural Network (SNN) to address the energy challenges faced by autonomous driving systems through its event-driven and energy-efficient nature. SAD is trained end-to-end and consists of three main modules: perception, which processes inputs from multi-view cameras to construct a spatiotemporal bird's eye view; prediction, which utilizes a novel dual-pathway with spiking neurons to forecast future states; and planning, which generates safe trajectories considering predicted occupancy, traffic rules, and ride comfort. Evaluated on the nuScenes dataset, SAD achieves competitive performance in perception, prediction, and planning tasks, while drawing upon the energy efficiency of SNNs. This work highlights the potential of neuromorphic computing to be applied to energy-efficient autonomous driving, a critical step toward sustainable and safety-critical automotive technology. Our code is available at https://github.com/ridgerchu/SAD.

Large-scale datasets have fueled recent advancements in AI-based autonomous vehicle research. However, these datasets are usually collected from a single vehicle's one-time pass of a certain location, lacking multiagent interactions or repeated traversals of the same place. Such information could lead to transformative enhancements in autonomous vehicles' perception, prediction, and planning capabilities. To bridge this gap, in collaboration with the self-driving company May Mobility, we present the MARS dataset which unifies scenarios that enable MultiAgent, multitraveRSal, and multimodal autonomous vehicle research. More specifically, MARS is collected with a fleet of autonomous vehicles driving within a certain geographical area. Each vehicle has its own route and different vehicles may appear at nearby locations. Each vehicle is equipped with a LiDAR and surround-view RGB cameras. We curate two subsets in MARS: one facilitates collaborative driving with multiple vehicles simultaneously present at the same location, and the other enables memory retrospection through asynchronous traversals of the same location by multiple vehicles. We conduct experiments in place recognition and neural reconstruction. More importantly, MARS introduces new research opportunities and challenges such as multitraversal 3D reconstruction, multiagent perception, and unsupervised object discovery. Our data and codes can be found at https://ai4ce.github.io/MARS/.

Modern autonomous driving systems are typically divided into three main tasks: perception, prediction, and planning. The planning task involves predicting the trajectory of the ego vehicle based on inputs from both internal intention and the external environment, and manipulating the vehicle accordingly. Most existing works evaluate their performance on the nuScenes dataset using the L2 error and collision rate between the predicted trajectories and the ground truth. In this paper, we reevaluate these existing evaluation metrics and explore whether they accurately measure the superiority of different methods. Specifically, we design an MLP-based method that takes raw sensor data (e.g., past trajectory, velocity, etc.) as input and directly outputs the future trajectory of the ego vehicle, without using any perception or prediction information such as camera images or LiDAR. Our simple method achieves similar end-to-end planning performance on the nuScenes dataset with other perception-based methods, reducing the average L2 error by about 20%. Meanwhile, the perception-based methods have an advantage in terms of collision rate. We further conduct in-depth analysis and provide new insights into the factors that are critical for the success of the planning task on nuScenes dataset. Our observation also indicates that we need to rethink the current open-loop evaluation scheme of end-to-end autonomous driving in nuScenes. Codes are available at https://github.com/E2E-AD/AD-MLP.

Spatial understanding over continuous visual input is crucial for MLLMs to evolve into general-purpose assistants in physical environments. Yet there is still no comprehensive benchmark that holistically assesses the progress toward this goal. In this work, we introduce MMSI-Video-Bench, a fully human-annotated benchmark for video-based spatial intelligence in MLLMs. It operationalizes a four-level framework, Perception, Planning, Prediction, and Cross-Video Reasoning, through 1,106 questions grounded in 1,278 clips from 25 datasets and in-house videos. Each item is carefully designed and reviewed by 3DV experts with explanatory rationales to ensure precise, unambiguous grounding. Leveraging its diverse data sources and holistic task coverage, MMSI-Video-Bench also supports three domain-oriented sub-benchmarks (Indoor Scene Perception Bench, Robot Bench and Grounding Bench) for targeted capability assessment. We evaluate 25 strong open-source and proprietary MLLMs, revealing a striking human--AI gap: many models perform near chance, and the best reasoning model lags humans by nearly 60%. We further find that spatially fine-tuned models still fail to generalize effectively on our benchmark. Fine-grained error analysis exposes systematic failures in geometric reasoning, motion grounding, long-horizon prediction, and cross-video correspondence. We also show that typical frame-sampling strategies transfer poorly to our reasoning-intensive benchmark, and that neither 3D spatial cues nor chain-of-thought prompting yields meaningful gains. We expect our benchmark to establish a solid testbed for advancing video-based spatial intelligence.

Autonomous driving requires real-time, robust reasoning across perception, prediction, planning, and behavior. However, conventional end-to-end models fail to generalize in complex scenarios due to the lack of structured reasoning. Recent vision-language models (VLMs) have been applied to driving tasks, but they typically rely on isolated modules and static supervision, limiting their ability to support multi-stage decision-making. We present AutoDriveRL, a unified training framework that formulates autonomous driving as a structured reasoning process over four core tasks. Each task is independently modeled as a vision-language question-answering problem and optimized using task-specific reward models, enabling fine-grained reinforcement signals at different reasoning stages. Within this framework, we train DriveRX, a cross-task reasoning VLM designed for real-time decision-making. DriveRX achieves strong performance on a public benchmark, outperforming GPT-4o in behavior reasoning and demonstrating robustness under complex or corrupted driving conditions. Our analysis further highlights the impact of vision encoder design and reward-guided reasoning compression. We will release the AutoDriveRL framework and the DriveRX model to support future research.

Reasoning is essential for autonomous driving (AD) in long-tail scenarios, where vehicles must apply commonsense knowledge, understand spatial relations, infer agent interactions, and make safe decisions. However, existing AD datasets and benchmarks mainly target perception, prediction, or planning, and provide limited supervision for reasoning over realistic long-tail driving scenes. We introduce nuReasoning, a large-scale real-world dataset and benchmark for reasoning-centric AD. Following the lineage of nuScenes and nuPlan, nuReasoning advances real-world AD datasets and benchmarks toward reasoning in long-tail driving scenarios. The dataset contains 20,000 clips, each 20 seconds long, collected across multiple cities, with synchronized multi-camera images, LiDAR data, HD maps, object annotations, and human-verified reasoning annotations spanning Spatial Reasoning, Decision Reasoning, and Counterfactual Reasoning. Unlike prior datasets that focus primarily on visual question answering, nuReasoning supports both reasoning evaluation and planning evaluation, enabling a direct study of how reasoning supervision affects driving performance. Experiments show that fine-tuning VLMs on nuReasoning substantially improves driving-specific question answering, while incorporating reasoning supervision into VLA training improves planning performance even when textual reasoning outputs are disabled at inference time. These results establish nuReasoning as a foundation for evaluating and improving robust, interpretable, reasoning-driven AD systems in realistic long-tail settings.

Autonomous driving visual question answering (AD-VQA) aims to answer questions related to perception, prediction, and planning based on given driving scene images, heavily relying on the model's spatial understanding capabilities. Prior works typically express spatial information through textual representations of coordinates, resulting in semantic gaps between visual coordinate representations and textual descriptions. This oversight hinders the accurate transmission of spatial information and increases the expressive burden. To address this, we propose a novel Marker-based Prompt learning framework (MPDrive), which represents spatial coordinates by concise visual markers, ensuring linguistic expressive consistency and enhancing the accuracy of both visual perception and spatial expression in AD-VQA. Specifically, we create marker images by employing a detection expert to overlay object regions with numerical labels, converting complex textual coordinate generation into straightforward text-based visual marker predictions. Moreover, we fuse original and marker images as scene-level features and integrate them with detection priors to derive instance-level features. By combining these features, we construct dual-granularity visual prompts that stimulate the LLM's spatial perception capabilities. Extensive experiments on the DriveLM and CODA-LM datasets show that MPDrive achieves state-of-the-art performance, particularly in cases requiring sophisticated spatial understanding.

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into perception, motion prediction, and planning. However, we argue that the conventional progressive pipeline still cannot comprehensively model the entire traffic evolution process, e.g., the future interaction between the ego car and other traffic participants and the structural trajectory prior. In this paper, we explore a new paradigm for end-to-end autonomous driving, where the key is to predict how the ego car and the surroundings evolve given past scenes. We propose GenAD, a generative framework that casts autonomous driving into a generative modeling problem. We propose an instance-centric scene tokenizer that first transforms the surrounding scenes into map-aware instance tokens. We then employ a variational autoencoder to learn the future trajectory distribution in a structural latent space for trajectory prior modeling. We further adopt a temporal model to capture the agent and ego movements in the latent space to generate more effective future trajectories. GenAD finally simultaneously performs motion prediction and planning by sampling distributions in the learned structural latent space conditioned on the instance tokens and using the learned temporal model to generate futures. Extensive experiments on the widely used nuScenes benchmark show that the proposed GenAD achieves state-of-the-art performance on vision-centric end-to-end autonomous driving with high efficiency. Code: https://github.com/wzzheng/GenAD.

Recent advancements in Multimodal Large Language Models (MLLMs) have shown remarkable capabilities across various multimodal contexts. However, their application in robotic scenarios, particularly for long-horizon manipulation tasks, reveals significant limitations. These limitations arise from the current MLLMs lacking three essential robotic brain capabilities: Planning Capability, which involves decomposing complex manipulation instructions into manageable sub-tasks; Affordance Perception, the ability to recognize and interpret the affordances of interactive objects; and Trajectory Prediction, the foresight to anticipate the complete manipulation trajectory necessary for successful execution. To enhance the robotic brain's core capabilities from abstract to concrete, we introduce ShareRobot, a high-quality heterogeneous dataset that labels multi-dimensional information such as task planning, object affordance, and end-effector trajectory. ShareRobot's diversity and accuracy have been meticulously refined by three human annotators. Building on this dataset, we developed RoboBrain, an MLLM-based model that combines robotic and general multi-modal data, utilizes a multi-stage training strategy, and incorporates long videos and high-resolution images to improve its robotic manipulation capabilities. Extensive experiments demonstrate that RoboBrain achieves state-of-the-art performance across various robotic tasks, highlighting its potential to advance robotic brain capabilities.

Many modern vision-language models (VLMs) build on autoregressive decoding of discrete tokens. While text-based output interfaces enable scalable pretraining and strong zero-shot generalization across diverse tasks, they are poorly suited for problems that require precise continuous outputs, such as localizing temporal boundaries of events or generating robotic control actions. To address this challenge, we propose DRIFT, a general framework for adapting pretrained VLMs to continuous decoding tasks. DRIFT combines a base predictor, which provides a coarse estimate of the target output, with a generative refinement module based on flow matching that iteratively improves the prediction. This residual formulation transforms the generative modeling problem from learning a global output distribution to modeling a localized residual distribution around a strong prior, substantially simplifying optimization. We evaluate DRIFT on both perception and planning tasks, including visual grounding and robotic control. Across multiple tasks and architectures spanning MLLMs, VLAs, and WAMs, DRIFT consistently outperforms a strong set of regression- and generative-based solutions.

Building robots that can perceive, reason, and act in dynamic, unstructured environments remains a core challenge. Recent embodied systems often adopt a dual-system paradigm, where System 2 handles high-level reasoning while System 1 executes low-level control. In this work, we refer to System 2 as the embodied brain, emphasizing its role as the cognitive core for reasoning and decision-making in manipulation tasks. Given this role, systematic evaluation of the embodied brain is essential. Yet existing benchmarks emphasize execution success, or when targeting high-level reasoning, suffer from incomplete dimensions and limited task realism, offering only a partial picture of cognitive capability. To bridge this gap, we introduce RoboBench, a benchmark that systematically evaluates multimodal large language models (MLLMs) as embodied brains. Motivated by the critical roles across the full manipulation pipeline, RoboBench defines five dimensions-instruction comprehension, perception reasoning, generalized planning, affordance prediction, and failure analysis-spanning 14 capabilities, 25 tasks, and 6092 QA pairs. To ensure realism, we curate datasets across diverse embodiments, attribute-rich objects, and multi-view scenes, drawing from large-scale real robotic data. For planning, RoboBench introduces an evaluation framework, MLLM-as-world-simulator. It evaluate embodied feasibility by simulating whether predicted plans can achieve critical object-state changes. Experiments on 14 MLLMs reveal fundamental limitations: difficulties with implicit instruction comprehension, spatiotemporal reasoning, cross-scenario planning, fine-grained affordance understanding, and execution failure diagnosis. RoboBench provides a comprehensive scaffold to quantify high-level cognition, and guide the development of next-generation embodied MLLMs. The project page is in https://robo-bench.github.io.

Human vision is capable of transforming two-dimensional observations into an egocentric three-dimensional scene understanding, which underpins the ability to translate complex scenes and exhibit adaptive behaviors. This capability, however, remains lacking in current autonomous driving systems, where mainstream approaches primarily rely on depth-based 3D reconstruction rather than true scene understanding. To address this limitation, we propose a novel human-like framework called OmniScene. First, we introduce the OmniScene Vision-Language Model (OmniVLM), a vision-language framework that integrates multi-view and temporal perception for holistic 4D scene understanding. Then, harnessing a teacher-student OmniVLM architecture and knowledge distillation, we embed textual representations into 3D instance features for semantic supervision, enriching feature learning, and explicitly capturing human-like attentional semantics. These feature representations are further aligned with human driving behaviors, forming a more human-like perception-understanding-action architecture. In addition, we propose a Hierarchical Fusion Strategy (HFS) to address imbalances in modality contributions during multimodal integration. Our approach adaptively calibrates the relative significance of geometric and semantic features at multiple abstraction levels, enabling the synergistic use of complementary cues from visual and textual modalities. This learnable dynamic fusion enables a more nuanced and effective exploitation of heterogeneous information. We evaluate OmniScene comprehensively on the nuScenes dataset, benchmarking it against over ten state-of-the-art models across various tasks. Our approach consistently achieves superior results, establishing new benchmarks in perception, prediction, planning, and visual question answering.

Object detection and multiple object tracking (MOT) are essential components of self-driving systems. Accurate detection and uncertainty quantification are both critical for onboard modules, such as perception, prediction, and planning, to improve the safety and robustness of autonomous vehicles. Collaborative object detection (COD) has been proposed to improve detection accuracy and reduce uncertainty by leveraging the viewpoints of multiple agents. However, little attention has been paid to how to leverage the uncertainty quantification from COD to enhance MOT performance. In this paper, as the first attempt to address this challenge, we design an uncertainty propagation framework called MOT-CUP. Our framework first quantifies the uncertainty of COD through direct modeling and conformal prediction, and propagates this uncertainty information into the motion prediction and association steps. MOT-CUP is designed to work with different collaborative object detectors and baseline MOT algorithms. We evaluate MOT-CUP on V2X-Sim, a comprehensive collaborative perception dataset, and demonstrate a 2% improvement in accuracy and a 2.67X reduction in uncertainty compared to the baselines, e.g. SORT and ByteTrack. In scenarios characterized by high occlusion levels, our MOT-CUP demonstrates a noteworthy 4.01% improvement in accuracy. MOT-CUP demonstrates the importance of uncertainty quantification in both COD and MOT, and provides the first attempt to improve the accuracy and reduce the uncertainty in MOT based on COD through uncertainty propagation. Our code is public on https://coperception.github.io/MOT-CUP/.

While large multimodal models (LMMs) have demonstrated strong performance across various Visual Question Answering (VQA) tasks, certain challenges require complex multi-step reasoning to reach accurate answers. One particularly challenging task is autonomous driving, which demands thorough cognitive processing before decisions can be made. In this domain, a sequential and interpretive understanding of visual cues is essential for effective perception, prediction, and planning. Nevertheless, common VQA benchmarks often focus on the accuracy of the final answer while overlooking the reasoning process that enables the generation of accurate responses. Moreover, existing methods lack a comprehensive framework for evaluating step-by-step reasoning in realistic driving scenarios. To address this gap, we propose DriveLMM-o1, a new dataset and benchmark specifically designed to advance step-wise visual reasoning for autonomous driving. Our benchmark features over 18k VQA examples in the training set and more than 4k in the test set, covering diverse questions on perception, prediction, and planning, each enriched with step-by-step reasoning to ensure logical inference in autonomous driving scenarios. We further introduce a large multimodal model that is fine-tuned on our reasoning dataset, demonstrating robust performance in complex driving scenarios. In addition, we benchmark various open-source and closed-source methods on our proposed dataset, systematically comparing their reasoning capabilities for autonomous driving tasks. Our model achieves a +7.49% gain in final answer accuracy, along with a 3.62% improvement in reasoning score over the previous best open-source model. Our framework, dataset, and model are available at https://github.com/ayesha-ishaq/DriveLMM-o1.

As world models gain momentum in Embodied AI, an increasing number of works explore using video foundation models as predictive world models for downstream embodied tasks like 3D prediction or interactive generation. However, before exploring these downstream tasks, video foundation models still have two critical questions unanswered: (1) whether their generative generalization is sufficient to maintain perceptual fidelity in the eyes of human observers, and (2) whether they are robust enough to serve as a universal prior for real-world embodied agents. To provide a standardized framework for answering these questions, we introduce the Embodied Turing Test benchmark: WoW-World-Eval (Wow,wo,val). Building upon 609 robot manipulation data, Wow-wo-val examines five core abilities, including perception, planning, prediction, generalization, and execution. We propose a comprehensive evaluation protocol with 22 metrics to assess the models' generation ability, which achieves a high Pearson Correlation between the overall score and human preference (>0.93) and establishes a reliable foundation for the Human Turing Test. On Wow-wo-val, models achieve only 17.27 on long-horizon planning and at best 68.02 on physical consistency, indicating limited spatiotemporal consistency and physical reasoning. For the Inverse Dynamic Model Turing Test, we first use an IDM to evaluate the video foundation models' execution accuracy in the real world. However, most models collapse to approx 0% success, while WoW maintains a 40.74% success rate. These findings point to a noticeable gap between the generated videos and the real world, highlighting the urgency and necessity of benchmarking World Model in Embodied AI.

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules, rather than taking end-to-end learning to optimize final planning performance, resulting in underutilized data potential. In this paper, we introduce UniV2X, a pioneering cooperative autonomous driving framework that seamlessly integrates all key driving modules across diverse views into a unified network. We propose a sparse-dense hybrid data transmission and fusion mechanism for effective vehicle-infrastructure cooperation, offering three advantages: 1) Effective for simultaneously enhancing agent perception, online mapping, and occupancy prediction, ultimately improving planning performance. 2) Transmission-friendly for practical and limited communication conditions. 3) Reliable data fusion with interpretability of this hybrid data. We implement UniV2X, as well as reproducing several benchmark methods, on the challenging DAIR-V2X, the real-world cooperative driving dataset. Experimental results demonstrate the effectiveness of UniV2X in significantly enhancing planning performance, as well as all intermediate output performance. The project is available at https://github.com/AIR-THU/UniV2X{https://github.com/AIR-THU/UniV2X}.

The significance of cross-view 3D geometric modeling capabilities for autonomous driving is self-evident, yet existing Vision-Language Models (VLMs) inherently lack this capability, resulting in their mediocre performance. While some promising approaches attempt to mitigate this by constructing Q&A data for auxiliary training, they still fail to fundamentally equip VLMs with the ability to comprehensively handle diverse evaluation protocols. We thus chart a new course, advocating for the infusion of VLMs with the cross-view geometric grounding of mature 3D foundation models, closing this critical capability gap in autonomous driving. In this spirit, we propose a novel architecture, VGGDrive, which empowers Vision-language models with cross-view Geometric Grounding for autonomous Driving. Concretely, to bridge the cross-view 3D geometric features from the frozen visual 3D model with the VLM's 2D visual features, we introduce a plug-and-play Cross-View 3D Geometric Enabler (CVGE). The CVGE decouples the base VLM architecture and effectively empowers the VLM with 3D features through a hierarchical adaptive injection mechanism. Extensive experiments show that VGGDrive enhances base VLM performance across five autonomous driving benchmarks, including tasks like cross-view risk perception, motion prediction, and trajectory planning. It's our belief that mature 3D foundation models can empower autonomous driving tasks through effective integration, and we hope our initial exploration demonstrates the potential of this paradigm to the autonomous driving community.

We introduce HY-Embodied-0.5, a family of foundation models specifically designed for real-world embodied agents. To bridge the gap between general Vision-Language Models (VLMs) and the demands of embodied agents, our models are developed to enhance the core capabilities required by embodied intelligence: spatial and temporal visual perception, alongside advanced embodied reasoning for prediction, interaction, and planning. The HY-Embodied-0.5 suite comprises two primary variants: an efficient model with 2B activated parameters designed for edge deployment, and a powerful model with 32B activated parameters targeted for complex reasoning. To support the fine-grained visual perception essential for embodied tasks, we adopt a Mixture-of-Transformers (MoT) architecture to enable modality-specific computing. By incorporating latent tokens, this design effectively enhances the perceptual representation of the models. To improve reasoning capabilities, we introduce an iterative, self-evolving post-training paradigm. Furthermore, we employ on-policy distillation to transfer the advanced capabilities of the large model to the smaller variant, thereby maximizing the performance potential of the compact model. Extensive evaluations across 22 benchmarks, spanning visual perception, spatial reasoning, and embodied understanding, demonstrate the effectiveness of our approach. Our MoT-2B model outperforms similarly sized state-of-the-art models on 16 benchmarks, while the 32B variant achieves performance comparable to frontier models such as Gemini 3.0 Pro. In downstream robot control experiments, we leverage our robust VLM foundation to train an effective Vision-Language-Action (VLA) model, achieving compelling results in real-world physical evaluations. Code and models are open-sourced at https://github.com/Tencent-Hunyuan/HY-Embodied.

Although transformers have demonstrated remarkable capabilities across various domains, their quadratic attention mechanisms introduce significant computational overhead when processing long-sequence data. In this paper, we present a unified autonomous driving model, UniLION, which efficiently handles large-scale LiDAR point clouds, high-resolution multi-view images, and even temporal sequences based on the linear group RNN operator (i.e., performs linear RNN for grouped features). Remarkably, UniLION serves as a single versatile architecture that can seamlessly support multiple specialized variants (i.e., LiDAR-only, temporal LiDAR, multi-modal, and multi-modal temporal fusion configurations) without requiring explicit temporal or multi-modal fusion modules. Moreover, UniLION consistently delivers competitive and even state-of-the-art performance across a wide range of core tasks, including 3D perception (e.g., 3D object detection, 3D object tracking, 3D occupancy prediction, BEV map segmentation), prediction (e.g., motion prediction), and planning (e.g., end-to-end planning). This unified paradigm naturally simplifies the design of multi-modal and multi-task autonomous driving systems while maintaining superior performance. Ultimately, we hope UniLION offers a fresh perspective on the development of 3D foundation models in autonomous driving. Code is available at https://github.com/happinesslz/UniLION

Large Multimodal Models (LMMs) have demonstrated exceptional comprehension and interpretation capabilities in Autonomous Driving (AD) by incorporating large language models. Despite the advancements, current data-driven AD approaches tend to concentrate on a single dataset and specific tasks, neglecting their overall capabilities and ability to generalize. To bridge these gaps, we propose DriveMM, a general large multimodal model designed to process diverse data inputs, such as images and multi-view videos, while performing a broad spectrum of AD tasks, including perception, prediction, and planning. Initially, the model undergoes curriculum pre-training to process varied visual signals and perform basic visual comprehension and perception tasks. Subsequently, we augment and standardize various AD-related datasets to fine-tune the model, resulting in an all-in-one LMM for autonomous driving. To assess the general capabilities and generalization ability, we conduct evaluations on six public benchmarks and undertake zero-shot transfer on an unseen dataset, where DriveMM achieves state-of-the-art performance across all tasks. We hope DriveMM as a promising solution for future end-toend autonomous driving applications in the real world.

Vision-Language-Action models have shown great promise for autonomous driving, yet they suffer from degraded perception after unfreezing the visual encoder and struggle with accumulated instability in long-term planning. To address these challenges, we propose EvoDriveVLA-a novel collaborative perception-planning distillation framework that integrates self-anchored perceptual constraints and oracle-guided trajectory optimization. Specifically, self-anchored visual distillation leverages self-anchor teacher to deliver visual anchoring constraints, regularizing student representations via trajectory-guided key-region awareness. In parallel, oracle-guided trajectory distillation employs a future-aware oracle teacher with coarse-to-fine trajectory refinement and Monte Carlo dropout sampling to produce high-quality trajectory candidates, thereby selecting the optimal trajectory to guide the student's prediction. EvoDriveVLA achieves SOTA performance in open-loop evaluation and significantly enhances performance in closed-loop evaluation. Our code is available at: https://github.com/hey-cjj/EvoDriveVLA.

Vision-Language-Action (VLA) models built upon Chain-of-Thought (CoT) have achieved remarkable success in advancing general-purpose robotic agents, owing to its significant perceptual comprehension. Recently, since text-only CoT struggles to adequately capture scene details in complex spatial environments, a highly promising strategy involves leveraging visual priors to guide robotic action generation. Nevertheless, these strategies face two inherent challenges: (i) a modality gap between visual observations and low-level actions, and (ii) unstable training due to competing objectives between visual prediction and action generation. To address these challenges, we propose a Vision-Integrated Trajectory Alignment (VITA) framework that learns a shared discrete latent space for vision and action, enabling joint modeling of perception and motor control. VITA introduces a implicit visual CoT: autoregressively generated tokens is simultaneously decoded into future frames predictions and robot actions, thereby internalizing visual dynamics as an inductive bias for motion planning. Extensive experiments on simulated and real-world environments demonstrate state-of-the-art performance. VITA improves 14.5\%, 9.6\% and 12.1\% over existing baselines on CALVIN, LIBERO and SimplerEnv. Furthermore, VITA attains an average success rate of 80.5\% across six real-world tasks, demonstrating its potential as a generalist robotic manipulation model.

World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in robot actions and suffer from compounding errors over long horizons. Classic task and motion planning models world transitions in logical space, enabling robot-executable and robust long-horizon reasoning. However, they typically operate independently of visual perception, preventing synchronized symbolic and visual state prediction. We propose a Hierarchical World Model (H-WM) that jointly predicts logical and visual state transitions within a unified framework. H-WM combines a high-level logical world model with a low-level visual world model, integrating the long-horizon robustness of symbolic reasoning with visual grounding. The hierarchical outputs provide stable intermediate guidance for long-horizon tasks, mitigating error accumulation and enabling robust execution across extended task sequences. Experiments across multiple vision-language-action (VLA) control policies demonstrate the effectiveness and generality of H-WM's guidance.

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g. inclusion, adjacency) among nodes. Dynamic scene graphs (DSGs) extend this notion to represent dynamic scenes with moving agents (e.g. humans, robots), and to include actionable information that supports planning and decision-making (e.g. spatio-temporal relations, topology at different levels of abstraction). Our second contribution is to provide the first fully automatic Spatial PerceptIon eNgine(SPIN) to build a DSG from visual-inertial data. We integrate state-of-the-art techniques for object and human detection and pose estimation, and we describe how to robustly infer object, robot, and human nodes in crowded scenes. To the best of our knowledge, this is the first paper that reconciles visual-inertial SLAM and dense human mesh tracking. Moreover, we provide algorithms to obtain hierarchical representations of indoor environments (e.g. places, structures, rooms) and their relations. Our third contribution is to demonstrate the proposed spatial perception engine in a photo-realistic Unity-based simulator, where we assess its robustness and expressiveness. Finally, we discuss the implications of our proposal on modern robotics applications. 3D Dynamic Scene Graphs can have a profound impact on planning and decision-making, human-robot interaction, long-term autonomy, and scene prediction. A video abstract is available at https://youtu.be/SWbofjhyPzI

Modern autonomous driving depends on accurate metric 3D understanding for perception, reconstruction, and planning, which in turn requires reliable multi-camera depth prediction. However, the outward-facing nature of vehicle-mounted surround-view camera rigs inherently limits visual overlap across views, challenging the correspondence-based assumptions that underpin conventional multi-view geometry. To bridge this gap, we present SurroundNEXO, named after the Spanish word nexo for a geometric link, a low-overlap multi-camera metric depth framework that grounds cross-view reasoning in ego-centric geometry rather than dense visual correspondences. Instead of directly enforcing early global fusion, SurroundNEXO first assigns image tokens globally comparable ego-frame viewing directions through Ego-Ray Positional Encoding, then uses sparse LiDAR measurements as metric anchors to propagate absolute scale cues, and finally expands feature interaction progressively from view-local modeling to decomposed spatio-temporal reasoning and global integration. This design enables metric-scale depth prediction with improved spatial consistency across weakly overlapping cameras. Across low-overlap autonomous driving benchmarks, including NuScenes, Waymo and DDAD, SurroundNEXO reduces single-view error by 33.2%, improves cross-view consistency by 10.5%, and enhances metric reconstruction quality by 25.6% compared with SOTA methods. It further remains robust under extremely sparse depth prompts and exhibits strong zero-shot generalization to unseen camera layouts.

Multimodal foundation models learned to see and to speak by consuming the whole internet. Embodied agents admit no such shortcut, since they require data that couple observations with physical states and actions. These signals can be provided, to varying degrees, by multiple data sources. In this work, we organize the embodied data ecosystem as a "pyramid" spanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data. We organize the pyramid around the tension between scalability and robot alignment, and further characterize each source in terms of data quality, diversity, reusability, and physical fidelity. We then analyze recent embodied foundation models through the lens of their data recipes, examining how different sources are selected, aligned, and mixed during pretraining. For embodied brain models, vision-language-action models, and world-action models alike, we relate data composition to capabilities in perception, reasoning, planning, action generation, and world prediction. We close by discussing six open challenges: building large-scale tactile datasets, collecting failure and recovery data, developing scalable data-collection pipelines, aligning actions across embodiments, leveraging egocentric data for dexterous manipulation, and designing principled data recipes for robot learning. We hope this work paves the foundation for the design of next-generation embodied systems.

We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic motions over long horizons, which is challenging for existing approaches. To accomplish this task, we design a hierarchical learning and control framework, which consists of a learned heightmap predictor for robust terrain perception, a reinforcement-learning-based centroidal-level motion policy for versatile and terrain-adaptive planning, and a low-level model-based leg controller for accurate motion tracking. In addition, we minimize the sim-to-real gap by accurately modeling the hardware characteristics. Our framework enables a Unitree Go1 robot to perform agile and continuous jumps on human-sized stairs and sparse stepping stones, for the first time to the best of our knowledge. In particular, the robot can cross two stair steps in each jump and completes a 3.5m long, 2.8m high, 14-step staircase in 4.5 seconds. Moreover, the same policy outperforms baselines in various other parkour tasks, such as jumping over single horizontal or vertical discontinuities. Experiment videos can be found at https://yxyang.github.io/jumping\_cod/.

Vision-and-Language Navigation in Continuous Environments (VLN-CE), which links language instructions to perception and control in the real world, is a core capability of embodied robots. Recently, large-scale pretrained foundation models have been leveraged as shared priors for perception, reasoning, and action, enabling zero-shot VLN without task-specific training. However, existing zero-shot VLN methods depend on costly perception and passive scene understanding, collapsing control to point-level choices. As a result, they are expensive to deploy, misaligned in action semantics, and short-sighted in planning. To address these issues, we present DreamNav that focuses on the following three aspects: (1) for reducing sensory cost, our EgoView Corrector aligns viewpoints and stabilizes egocentric perception; (2) instead of point-level actions, our Trajectory Predictor favors global trajectory-level planning to better align with instruction semantics; and (3) to enable anticipatory and long-horizon planning, we propose an Imagination Predictor to endow the agent with proactive thinking capability. On VLN-CE and real-world tests, DreamNav sets a new zero-shot state-of-the-art (SOTA), outperforming the strongest egocentric baseline with extra information by up to 7.49\% and 18.15\% in terms of SR and SPL metrics. To our knowledge, this is the first zero-shot VLN method to unify trajectory-level planning and active imagination while using only egocentric inputs.

Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified dynamics, often require designing and tuning cost functions to safely guide paths or actions toward the goal. This process is tedious, environment-dependent, and not generalizable. To overcome these issues, we propose a novel learned perceptive Forward Dynamics Model (FDM) that predicts the robot`s future state conditioned on the surrounding geometry and history of proprioceptive measurements, proposing a more scalable, safer, and heuristic-free solution. The FDM is trained on multiple years of simulated navigation experience, including high-risk maneuvers, and real-world interactions to incorporate the full system dynamics beyond rigid body simulation. We integrate our perceptive FDM into a zero-shot Model Predictive Path Integral (MPPI) planning framework, leveraging the learned mapping between actions, future states, and failure probability. This allows for optimizing a simplified cost function, eliminating the need for extensive cost-tuning to ensure safety. On the legged robot ANYmal, the proposed perceptive FDM improves the position estimation by on average 41% over competitive baselines, which translates into a 27% higher navigation success rate in rough simulation environments. Moreover, we demonstrate effective sim-to-real transfer and showcase the benefit of training on synthetic and real data. Code and models are made publicly available under https://github.com/leggedrobotics/fdm.

As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging for two main reasons: (1) HRI prediction models must learn from limited data, and (2) the obtained models must be interpretable to enable safe and effective interactions. Interpretability is particularly important when a robot is perceived as incompetent (e.g., when the robot suddenly stops or rotates away from the goal), as it allows the robot to explain its reasoning and identify controllable factors to improve performance, requiring causal rather than associative reasoning. To address these challenges, we propose a Causal Bayesian Network designed to predict how people perceive a mobile robot's competence and how they interpret its intent during navigation. Additionally, we introduce a novel method to improve perceived robot competence employing a combinatorial search, guided by the proposed causal model, to identify better navigation behaviors. Our method enhances interpretability and generates counterfactual robot motions while achieving comparable or superior predictive performance to state-of-the-art methods, reaching an F1-score of 0.78 and 0.75 for competence and intention on a binary scale. To further assess our method's ability to improve the perceived robot competence, we conducted an online evaluation in which users rated robot behaviors on a 5-point Likert scale. Our method statistically significantly increased the perceived competence of low-competent robot behavior by 83%.

Recent advances in world models and video generation have given rise to an emerging reasoning paradigm that leverages video generative models to simulate, predict, and reason about real-world dynamics. We redefine this paradigm as Thinking in Video, where video is not merely an output artifact but a medium for constructing, extending, and verifying causal thought. However, this promise remains unverified: convincing rollouts may reflect memorized appearances rather than causal understanding, while existing metrics separate perceptual fidelity from semantic logic. To evaluate whether video generators support such reasoning, we introduce the Causal-Generative Dual-Judge (CGDJ), auditing World Model Consistency from two perspectives. Explicit Causal Perception tests whether a generator reads a video scenario as a reasoning problem through spatio-temporal flattened visual question answering, while Implicit Generative Perception-Prediction Gap evaluates whether it renders the causal consequence as a consistent future video. Applying CGDJ to representative open- and closed-source generators reveals a clear Perception-Prediction Gap: open-source models produce plausible dynamics despite near-zero explicit causal perception, whereas advanced closed-source systems show stronger but still limited alignment between reasoning and generation. Further analysis exposes audio-visual misalignment, where models verbalize correct causal logic more reliably than they render it, challenging the "world simulator" narrative.

Recent advances in vision-language-action (VLA) models have shown promise in integrating image generation with action prediction to improve generalization and reasoning in robot manipulation. However, existing methods are limited to challenging image-based forecasting, which suffers from redundant information and lacks comprehensive and critical world knowledge, including dynamic, spatial and semantic information. To address these limitations, we propose DreamVLA, a novel VLA framework that integrates comprehensive world knowledge forecasting to enable inverse dynamics modeling, thereby establishing a perception-prediction-action loop for manipulation tasks. Specifically, DreamVLA introduces a dynamic-region-guided world knowledge prediction, integrated with the spatial and semantic cues, which provide compact yet comprehensive representations for action planning. This design aligns with how humans interact with the world by first forming abstract multimodal reasoning chains before acting. To mitigate interference among the dynamic, spatial and semantic information during training, we adopt a block-wise structured attention mechanism that masks their mutual attention, preventing information leakage and keeping each representation clean and disentangled. Moreover, to model the conditional distribution over future actions, we employ a diffusion-based transformer that disentangles action representations from shared latent features. Extensive experiments on both real-world and simulation environments demonstrate that DreamVLA achieves 76.7% success rate on real robot tasks and 4.44 average length on the CALVIN ABC-D benchmarks.

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing spatio-temporal Birds-Eye-View (BEV) representations from multi-camera videos and jointly reasoning about multiple tasks for vision-centric autonomous driving. Specifically, BEVerse first performs shared feature extraction and lifting to generate 4D BEV representations from multi-timestamp and multi-view images. After the ego-motion alignment, the spatio-temporal encoder is utilized for further feature extraction in BEV. Finally, multiple task decoders are attached for joint reasoning and prediction. Within the decoders, we propose the grid sampler to generate BEV features with different ranges and granularities for different tasks. Also, we design the method of iterative flow for memory-efficient future prediction. We show that the temporal information improves 3D object detection and semantic map construction, while the multi-task learning can implicitly benefit motion prediction. With extensive experiments on the nuScenes dataset, we show that the multi-task BEVerse outperforms existing single-task methods on 3D object detection, semantic map construction, and motion prediction. Compared with the sequential paradigm, BEVerse also favors in significantly improved efficiency. The code and trained models will be released at https://github.com/zhangyp15/BEVerse.

In this paper, we explore the use of vehicle-to-vehicle (V2V) communication to improve the perception and motion forecasting performance of self-driving vehicles. By intelligently aggregating the information received from multiple nearby vehicles, we can observe the same scene from different viewpoints. This allows us to see through occlusions and detect actors at long range, where the observations are very sparse or non-existent. We also show that our approach of sending compressed deep feature map activations achieves high accuracy while satisfying communication bandwidth requirements.

Vehicle-to-everything (V2X) technologies offer a promising paradigm to mitigate the limitations of constrained observability in single-vehicle systems. Prior work primarily focuses on single-frame cooperative perception, which fuses agents' information across different spatial locations but ignores temporal cues and temporal tasks (e.g., temporal perception and prediction). In this paper, we focus on the spatio-temporal fusion in V2X scenarios and design one-step and multi-step communication strategies (when to transmit) as well as examine their integration with three fusion strategies - early, late, and intermediate (what to transmit), providing comprehensive benchmarks with 11 fusion models (how to fuse). Furthermore, we propose V2XPnP, a novel intermediate fusion framework within one-step communication for end-to-end perception and prediction. Our framework employs a unified Transformer-based architecture to effectively model complex spatio-temporal relationships across multiple agents, frames, and high-definition map. Moreover, we introduce the V2XPnP Sequential Dataset that supports all V2X collaboration modes and addresses the limitations of existing real-world datasets, which are restricted to single-frame or single-mode cooperation. Extensive experiments demonstrate our framework outperforms state-of-the-art methods in both perception and prediction tasks. The codebase and dataset will be released to facilitate future V2X research.

End-to-end training of multi-agent systems offers significant advantages in improving multi-task performance. However, training such models remains challenging and requires extensive manual design and monitoring. In this work, we introduce TurboTrain, a novel and efficient training framework for multi-agent perception and prediction. TurboTrain comprises two key components: a multi-agent spatiotemporal pretraining scheme based on masked reconstruction learning and a balanced multi-task learning strategy based on gradient conflict suppression. By streamlining the training process, our framework eliminates the need for manually designing and tuning complex multi-stage training pipelines, substantially reducing training time and improving performance. We evaluate TurboTrain on a real-world cooperative driving dataset, V2XPnP-Seq, and demonstrate that it further improves the performance of state-of-the-art multi-agent perception and prediction models. Our results highlight that pretraining effectively captures spatiotemporal multi-agent features and significantly benefits downstream tasks. Moreover, the proposed balanced multi-task learning strategy enhances detection and prediction.

The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative perception, this paper explores the feasibility and effectiveness of cooperative motion prediction. Our method, CMP, takes LiDAR signals as model input to enhance tracking and prediction capabilities. Unlike previous work that focuses separately on either cooperative perception or motion prediction, our framework, to the best of our knowledge, is the first to address the unified problem where CAVs share information in both perception and prediction modules. Incorporated into our design is the unique capability to tolerate realistic V2X transmission delays, while dealing with bulky perception representations. We also propose a prediction aggregation module, which unifies the predictions obtained by different CAVs and generates the final prediction. Through extensive experiments and ablation studies on the OPV2V and V2V4Real datasets, we demonstrate the effectiveness of our method in cooperative perception, tracking, and motion prediction. In particular, CMP reduces the average prediction error by 12.3% compared with the strongest baseline. Our work marks a significant step forward in the cooperative capabilities of CAVs, showcasing enhanced performance in complex scenarios. More details can be found on the project website: https://cmp-cooperative-prediction.github.io.

Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes an important research topic in the areas of egocentric perceptual tasks related to navigation in both crowded and unstructured environments. Due to the complexity of environmental conditions and difficulty of surrounding obstacles owing to truncation and occlusion, the perception capability under this circumstance is still inferior. To further enhance the intelligence of mobile robots, in this paper, we setup an egocentric multi-sensor data collection platform based on 3 main types of sensors (Camera, LiDAR and Fisheye), which supports flexible sensor configurations to enable dynamic sight of view from ego-perspective, capturing either near or farther areas. Meanwhile, a large-scale multimodal dataset is constructed, named RoboSense, to facilitate egocentric robot perception. Specifically, RoboSense contains more than 133K synchronized data with 1.4M 3D bounding box and IDs annotated in the full 360^{circ} view, forming 216K trajectories across 7.6K temporal sequences. It has 270times and 18times as many annotations of surrounding obstacles within near ranges as the previous datasets collected for autonomous driving scenarios such as KITTI and nuScenes. Moreover, we define a novel matching criterion for near-field 3D perception and prediction metrics. Based on RoboSense, we formulate 6 popular tasks to facilitate the future research development, where the detailed analysis as well as benchmarks are also provided accordingly. Data desensitization measures have been conducted for privacy protection.

Physical AI aims to develop models that can perceive and predict real-world dynamics; yet, the extent to which current multi-modal large language models and video generative models support these abilities is insufficiently understood. We introduce Physical AI Bench (PAI-Bench), a unified and comprehensive benchmark that evaluates perception and prediction capabilities across video generation, conditional video generation, and video understanding, comprising 2,808 real-world cases with task-aligned metrics designed to capture physical plausibility and domain-specific reasoning. Our study provides a systematic assessment of recent models and shows that video generative models, despite strong visual fidelity, often struggle to maintain physically coherent dynamics, while multi-modal large language models exhibit limited performance in forecasting and causal interpretation. These observations suggest that current systems are still at an early stage in handling the perceptual and predictive demands of Physical AI. In summary, PAI-Bench establishes a realistic foundation for evaluating Physical AI and highlights key gaps that future systems must address.

Classical autonomous driving systems connect perception and prediction modules via hand-crafted bounding-box interfaces, limiting information flow and propagating errors to downstream tasks. Recent research aims to develop end-to-end models that jointly address perception and prediction; however, they often fail to fully exploit the synergy between appearance and motion cues, relying mainly on short-term visual features. We follow the idea of "looking backward to look forward", and propose MASAR, a novel fully differentiable framework for joint 3D detection and trajectory forecasting compatible with any transformer-based 3D detector. MASAR employs an object-centric spatio-temporal mechanism that jointly encodes appearance and motion features. By predicting past trajectories and refining them using guidance from appearance cues, MASAR captures long-term temporal dependencies that enhance future trajectory forecasting. Experiments conducted on the nuScenes dataset demonstrate MASAR's effectiveness, showing improvements of over 20% in minADE and minFDE while maintaining robust detection performance. Code and models are available at https://github.com/aminmed/MASAR.

Understanding risk in autonomous driving requires not only perception and prediction, but also high-level reasoning about agent behavior and context. Current Vision Language Models (VLMs)-based methods primarily ground agents in static images and provide qualitative judgments, lacking the spatio-temporal reasoning needed to capture how risks evolve over time. To address this gap, we propose NuRisk, a comprehensive Visual Question Answering (VQA) dataset comprising 2,900 scenarios and 1.1 million agent-level samples, built on real-world data from nuScenes and Waymo, supplemented with safety-critical scenarios from the CommonRoad simulator. The dataset provides Bird-Eye-View (BEV) based sequential images with quantitative, agent-level risk annotations, enabling spatio-temporal reasoning. We benchmark well-known VLMs across different prompting techniques and find that they fail to perform explicit spatio-temporal reasoning, resulting in a peak accuracy of 33% at high latency. To address these shortcomings, our fine-tuned 7B VLM agent improves accuracy to 41% and reduces latency by 75%, demonstrating explicit spatio-temporal reasoning capabilities that proprietary models lacked. While this represents a significant step forward, the modest accuracy underscores the profound challenge of the task, establishing NuRisk as a critical benchmark for advancing spatio-temporal reasoning in autonomous driving.

Vehicle-to-vehicle (V2V) cooperative autonomous driving holds great promise for improving safety by addressing the perception and prediction uncertainties inherent in single-agent systems. However, traditional cooperative methods are constrained by rigid collaboration protocols and limited generalization to unseen interactive scenarios. While LLM-based approaches offer generalized reasoning capabilities, their challenges in spatial planning and unstable inference latency hinder their direct application in cooperative driving. To address these limitations, we propose CoLMDriver, the first full-pipeline LLM-based cooperative driving system, enabling effective language-based negotiation and real-time driving control. CoLMDriver features a parallel driving pipeline with two key components: (i) an LLM-based negotiation module under an actor-critic paradigm, which continuously refines cooperation policies through feedback from previous decisions of all vehicles; and (ii) an intention-guided waypoint generator, which translates negotiation outcomes into executable waypoints. Additionally, we introduce InterDrive, a CARLA-based simulation benchmark comprising 10 challenging interactive driving scenarios for evaluating V2V cooperation. Experimental results demonstrate that CoLMDriver significantly outperforms existing approaches, achieving an 11% higher success rate across diverse highly interactive V2V driving scenarios. Code will be released on https://github.com/cxliu0314/CoLMDriver.

Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide dense occupancy representations of large-scale scenes based on the current observation. However, they are mostly limited to representing the current 3D space and do not consider the future state of surrounding objects along the time axis. To extend camera-only occupancy estimation into spatiotemporal prediction, we propose Cam4DOcc, a new benchmark for camera-only 4D occupancy forecasting, evaluating the surrounding scene changes in a near future. We build our benchmark based on multiple publicly available datasets, including nuScenes, nuScenes-Occupancy, and Lyft-Level5, which provides sequential occupancy states of general movable and static objects, as well as their 3D backward centripetal flow. To establish this benchmark for future research with comprehensive comparisons, we introduce four baseline types from diverse camera-based perception and prediction implementations, including a static-world occupancy model, voxelization of point cloud prediction, 2D-3D instance-based prediction, and our proposed novel end-to-end 4D occupancy forecasting network. Furthermore, the standardized evaluation protocol for preset multiple tasks is also provided to compare the performance of all the proposed baselines on present and future occupancy estimation with respect to objects of interest in autonomous driving scenarios. The dataset and our implementation of all four baselines in the proposed Cam4DOcc benchmark will be released here: https://github.com/haomo-ai/Cam4DOcc.

Recent VLM and VLA systems have improved robotic perception and action prediction, yet long-horizon embodied agents still require a general runtime layer for reasoning, memory, tool use, verification, and cross-embodiment execution. We present ABot-AgentOS, a general robotic Agent Operating System that sits above low-level controllers and provides a deliberative agent layer for scene-conditioned planning, context-isolated skill execution, multi-stage verification, multi-modal memory, and edge-cloud collaboration. To evaluate such systems, we introduce EmbodiedWorldBench, an executable benchmark with 16 indoor, outdoor, and hybrid scenes, four difficulty levels, and over 200 tasks involving navigation, object search, NPC dialogue, dynamic events, and trace-grounded scoring. ABot-AgentOS further introduces Universal Multi-modal Graph Memory, a persistent source-grounded substrate that converts dialogue, visual observations, spatial context, temporal relations, and task traces into typed nodes and edges. A failure-driven self-evolution loop converts diagnosed memory failures into gated runtime evo-assets that are promoted only to later evaluation splits, preventing current-split ground-truth leakage while enabling continual improvement. On an initial EmbodiedWorldBench subset, ABot-AgentOS improves over a single-controller baseline in both task success and goal completion. Across memory benchmarks, ABot-AgentOS Static achieves 87.5 on LoCoMo, 59.9 on OpenEQA EM-EQA, 88.6 on Mem-Gallery, and 76.5 Acc@All on NExT-QA; self-evolution further improves LoCoMo to 88.7, OpenEQA to 60.4, and Mem-Gallery to 89.0. These results suggest that a general Agent OS layer can improve long-horizon embodied execution while providing persistent, auditable memory for continual interaction.

Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches adapt VLMs into vision-language-action (VLA) models that enable natural language-driven perception and control. However, existing VLAs are typically massive--often with billions of parameters--leading to high training costs and limited real-world deployability. Moreover, they rely on academic and industrial datasets, overlooking the growing availability of community-collected data from affordable robotic platforms. In this work, we present SmolVLA, a small, efficient, and community-driven VLA that drastically reduces both training and inference costs, while retaining competitive performance. SmolVLA is designed to be trained on a single GPU and deployed on consumer-grade GPUs or even CPUs. To further improve responsiveness, we introduce an asynchronous inference stack decoupling perception and action prediction from action execution, allowing higher control rates with chunked action generation. Despite its compact size, SmolVLA achieves performance comparable to VLAs that are 10x larger. We evaluate SmolVLA on a range of both simulated as well as real-world robotic benchmarks and release all code, pretrained models, and training data.

Visuomotor policy learning has witnessed substantial progress in robotic manipulation, with recent approaches predominantly relying on generative models to model the action distribution. However, these methods often overlook the critical coupling between visual perception and action prediction. In this work, we introduce Triply-Hierarchical Diffusion Policy~(H^{\mathbf{3}DP}), a novel visuomotor learning framework that explicitly incorporates hierarchical structures to strengthen the integration between visual features and action generation. H^{3}DP contains 3 levels of hierarchy: (1) depth-aware input layering that organizes RGB-D observations based on depth information; (2) multi-scale visual representations that encode semantic features at varying levels of granularity; and (3) a hierarchically conditioned diffusion process that aligns the generation of coarse-to-fine actions with corresponding visual features. Extensive experiments demonstrate that H^{3}DP yields a +27.5% average relative improvement over baselines across 44 simulation tasks and achieves superior performance in 4 challenging bimanual real-world manipulation tasks. Project Page: https://lyy-iiis.github.io/h3dp/.

We study the task of language instruction-guided robotic manipulation, in which an embodied robot is supposed to manipulate the target objects based on the language instructions. In previous studies, the predicted manipulation regions of the target object typically do not change with specification from the language instructions, which means that the language perception and manipulation prediction are separate. However, in human behavioral patterns, the manipulation regions of the same object will change for different language instructions. In this paper, we propose Instruction-Guided Affordance Net (IGANet) for predicting affordance maps of instruction-guided robotic manipulation tasks by utilizing powerful priors from vision and language encoders pre-trained on large-scale datasets. We develop a Vison-Language-Models(VLMs)-based data augmentation pipeline, which can generate a large amount of data automatically for model training. Besides, with the help of Large-Language-Models(LLMs), actions can be effectively executed to finish the tasks defined by instructions. A series of real-world experiments revealed that our method can achieve better performance with generated data. Moreover, our model can generalize better to scenarios with unseen objects and language instructions.

Activity cliff prediction is a critical task in drug discovery and material design. Existing computational methods are limited to handling single binding targets, which restricts the applicability of these prediction models. In this paper, we present the Multi-Grained Target Perception network (MTPNet) to incorporate the prior knowledge of interactions between the molecules and their target proteins. Specifically, MTPNet is a unified framework for activity cliff prediction, which consists of two components: Macro-level Target Semantic (MTS) guidance and Micro-level Pocket Semantic (MPS) guidance. By this way, MTPNet dynamically optimizes molecular representations through multi-grained protein semantic conditions. To our knowledge, it is the first time to employ the receptor proteins as guiding information to effectively capture critical interaction details. Extensive experiments on 30 representative activity cliff datasets demonstrate that MTPNet significantly outperforms previous approaches, achieving an average RMSE improvement of 18.95% on top of several mainstream GNN architectures. Overall, MTPNet internalizes interaction patterns through conditional deep learning to achieve unified predictions of activity cliffs, helping to accelerate compound optimization and design. Codes are available at: https://github.com/ZishanShu/MTPNet.

We present SimpleSeg, a strikingly simple yet highly effective approach to endow Multimodal Large Language Models (MLLMs) with native pixel-level perception. Our method reframes segmentation as a simple sequence generation problem: the model directly predicts sequences of points (textual coordinates) delineating object boundaries, entirely within its language space. To achieve high fidelity, we introduce a two-stage SFtoRL training pipeline, where Reinforcement Learning with an IoU-based reward refines the point sequences to accurately match ground-truth contours. We find that the standard MLLM architecture possesses a strong, inherent capacity for low-level perception that can be unlocked without any specialized architecture. On segmentation benchmarks, SimpleSeg achieves performance that is comparable to, and often surpasses, methods relying on complex, task-specific designs. This work lays out that precise spatial understanding can emerge from simple point prediction, challenging the prevailing need for auxiliary components and paving the way for more unified and capable VLMs. Homepage: https://simpleseg.github.io/

Safety-critical perception systems require both reliable uncertainty quantification and principled abstention mechanisms to maintain safety under diverse operational conditions. We present a novel dual-threshold conformalization framework that provides statistically-guaranteed uncertainty estimates while enabling selective prediction in high-risk scenarios. Our approach uniquely combines a conformal threshold ensuring valid prediction sets with an abstention threshold optimized through ROC analysis, providing distribution-free coverage guarantees (\ge 1 - \alpha) while identifying unreliable predictions. Through comprehensive evaluation on CIFAR-100, ImageNet1K, and ModelNet40 datasets, we demonstrate superior robustness across camera and LiDAR modalities under varying environmental perturbations. The framework achieves exceptional detection performance (AUC: 0.993\to0.995) under severe conditions while maintaining high coverage (>90.0\%) and enabling adaptive abstention (13.5\%\to63.4\%\pm0.5) as environmental severity increases. For LiDAR-based perception, our approach demonstrates particularly strong performance, maintaining robust coverage (>84.5\%) while appropriately abstaining from unreliable predictions. Notably, the framework shows remarkable stability under heavy perturbations, with detection performance (AUC: 0.995\pm0.001) significantly outperforming existing methods across all modalities. Our unified approach bridges the gap between theoretical guarantees and practical deployment needs, offering a robust solution for safety-critical autonomous systems operating in challenging real-world conditions.

This paper targets the perceptual task of separating the different interacting voices, i.e., monophonic melodic streams, in a polyphonic musical piece. We target symbolic music, where notes are explicitly encoded, and model this task as a Multi-Trajectory Tracking (MTT) problem from discrete observations, i.e., notes in a pitch-time space. Our approach builds a graph from a musical piece, by creating one node for every note, and separates the melodic trajectories by predicting a link between two notes if they are consecutive in the same voice/stream. This kind of local, greedy prediction is made possible by node embeddings created by a heterogeneous graph neural network that can capture inter- and intra-trajectory information. Furthermore, we propose a new regularization loss that encourages the output to respect the MTT premise of at most one incoming and one outgoing link for every node, favouring monophonic (voice) trajectories; this loss function might also be useful in other general MTT scenarios. Our approach does not use domain-specific heuristics, is scalable to longer sequences and a higher number of voices, and can handle complex cases such as voice inversions and overlaps. We reach new state-of-the-art results for the voice separation task in classical music of different styles.

3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus, integrating cameras with next-generation 4D imaging radar to achieve unified multi-task perception is highly significant, though research in this domain remains limited. In this paper, we propose Doracamom, the first framework that fuses multi-view cameras and 4D radar for joint 3D object detection and semantic occupancy prediction, enabling comprehensive environmental perception. Specifically, we introduce a novel Coarse Voxel Queries Generator that integrates geometric priors from 4D radar with semantic features from images to initialize voxel queries, establishing a robust foundation for subsequent Transformer-based refinement. To leverage temporal information, we design a Dual-Branch Temporal Encoder that processes multi-modal temporal features in parallel across BEV and voxel spaces, enabling comprehensive spatio-temporal representation learning. Furthermore, we propose a Cross-Modal BEV-Voxel Fusion module that adaptively fuses complementary features through attention mechanisms while employing auxiliary tasks to enhance feature quality. Extensive experiments on the OmniHD-Scenes, View-of-Delft (VoD), and TJ4DRadSet datasets demonstrate that Doracamom achieves state-of-the-art performance in both tasks, establishing new benchmarks for multi-modal 3D perception. Code and models will be publicly available.

We introduce J-ORA, a novel multimodal dataset that bridges the gap in robot perception by providing detailed object attribute annotations within Japanese human-robot dialogue scenarios. J-ORA is designed to support three critical perception tasks, object identification, reference resolution, and next-action prediction, by leveraging a comprehensive template of attributes (e.g., category, color, shape, size, material, and spatial relations). Extensive evaluations with both proprietary and open-source Vision Language Models (VLMs) reveal that incorporating detailed object attributes substantially improves multimodal perception performance compared to without object attributes. Despite the improvement, we find that there still exists a gap between proprietary and open-source VLMs. In addition, our analysis of object affordances demonstrates varying abilities in understanding object functionality and contextual relationships across different VLMs. These findings underscore the importance of rich, context-sensitive attribute annotations in advancing robot perception in dynamic environments. See project page at https://jatuhurrra.github.io/J-ORA/.

Spatial perception and reasoning are crucial for Vision-Language-Action (VLA) models to accomplish fine-grained manipulation tasks. However, existing approaches often lack the ability to understand and reason over the essential 3D structures necessary for precise control. To address this limitation, we propose QDepth-VLA, a general framework that augments VLA models with an auxiliary depth prediction task. A dedicated depth expert is designed to predict quantized latent tokens of depth maps obtained from a VQ-VAE encoder, enabling the model to learn depth-aware representations that capture critical geometric cues. Experimental results on the simulation benchmarks and real-world tasks demonstrate that QDepth-VLA yields strong spatial reasoning and competitive performance on manipulation tasks.

Following the gaze of other people and analyzing the target they are looking at can help us understand what they are thinking, and doing, and predict the actions that may follow. Existing methods for gaze following struggle to perform well in natural scenes with diverse objects, and focus on gaze points rather than objects, making it difficult to deliver clear semantics and accurate scope of the targets. To address this shortcoming, we propose a novel gaze target prediction solution named GazeSeg, that can fully utilize the spatial visual field of the person as guiding information and lead to a progressively coarse-to-fine gaze target segmentation and recognition process. Specifically, a prompt-based visual foundation model serves as the encoder, working in conjunction with three distinct decoding modules (e.g. FoV perception, heatmap generation, and segmentation) to form the framework for gaze target prediction. Then, with the head bounding box performed as an initial prompt, GazeSeg obtains the FoV map, heatmap, and segmentation map progressively, leading to a unified framework for multiple tasks (e.g. direction estimation, gaze target segmentation, and recognition). In particular, to facilitate this research, we construct and release a new dataset, comprising 72k images with pixel-level annotations and 270 categories of gaze targets, built upon the GazeFollow dataset. The quantitative evaluation shows that our approach achieves the Dice of 0.325 in gaze target segmentation and 71.7% top-5 recognition. Meanwhile, our approach also outperforms previous state-of-the-art methods, achieving 0.953 in AUC on the gaze-following task. The dataset and code will be released.

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or bird's eye views as representations of the environment. However, these approaches fall short in offering a comprehensive 3D environmental prediction. To bridge this gap, we introduce the first method for collaborative 3D semantic occupancy prediction. Particularly, it improves local 3D semantic occupancy predictions by hybrid fusion of (i) semantic and occupancy task features, and (ii) compressed orthogonal attention features shared between vehicles. Additionally, due to the lack of a collaborative perception dataset designed for semantic occupancy prediction, we augment a current collaborative perception dataset to include 3D collaborative semantic occupancy labels for a more robust evaluation. The experimental findings highlight that: (i) our collaborative semantic occupancy predictions excel above the results from single vehicles by over 30%, and (ii) models anchored on semantic occupancy outpace state-of-the-art collaborative 3D detection techniques in subsequent perception applications, showcasing enhanced accuracy and enriched semantic-awareness in road environments.

Scene text recognition (STR) methods have struggled to attain high accuracy and fast inference speed. Autoregressive (AR)-based models implement the recognition in a character-by-character manner, showing superiority in accuracy but with slow inference speed. Alternatively, parallel decoding (PD)-based models infer all characters in a single decoding pass, offering faster inference speed but generally worse accuracy. We first present an empirical study of AR decoding in STR, and discover that the AR decoder not only models linguistic context, but also provides guidance on visual context perception. Consequently, we propose Context Perception Parallel Decoder (CPPD) to predict the character sequence in a PD pass. CPPD devises a character counting module to infer the occurrence count of each character, and a character ordering module to deduce the content-free reading order and placeholders. Meanwhile, the character prediction task associates the placeholders with characters. They together build a comprehensive recognition context. We construct a series of CPPD models and also plug the proposed modules into existing STR decoders. Experiments on both English and Chinese benchmarks demonstrate that the CPPD models achieve highly competitive accuracy while running approximately 8x faster than their AR-based counterparts. Moreover, the plugged models achieve significant accuracy improvements. Code is at https://github.com/PaddlePaddle/PaddleOCR/blob/dygraph/doc/doc_en/algorithm_rec_cppd_en.md{this https URL}.

Dense visual prediction tasks have been constrained by their reliance on predefined categories, limiting their applicability in real-world scenarios where visual concepts are unbounded. While Vision-Language Models (VLMs) like CLIP have shown promise in open-vocabulary tasks, their direct application to dense prediction often leads to suboptimal performance due to limitations in local feature representation. In this work, we present our observation that CLIP's image tokens struggle to effectively aggregate information from spatially or semantically related regions, resulting in features that lack local discriminability and spatial consistency. To address this issue, we propose DeCLIP, a novel framework that enhances CLIP by decoupling the self-attention module to obtain ``content'' and ``context'' features respectively. The ``content'' features are aligned with image crop representations to improve local discriminability, while ``context'' features learn to retain the spatial correlations under the guidance of vision foundation models, such as DINO. Extensive experiments demonstrate that DeCLIP significantly outperforms existing methods across multiple open-vocabulary dense prediction tasks, including object detection and semantic segmentation. Code is available at magenta{https://github.com/xiaomoguhz/DeCLIP}.

Affordance prediction serves as a critical bridge between perception and action in embodied AI. However, existing research is confined to pinhole camera models, which suffer from narrow Fields of View (FoV) and fragmented observations, often missing critical holistic environmental context. In this paper, we present the first exploration into Panoramic Affordance Prediction, utilizing 360-degree imagery to capture global spatial relationships and holistic scene understanding. To facilitate this novel task, we first introduce PAP-12K, a large-scale benchmark dataset containing over 1,000 ultra-high-resolution (12k, 11904 x 5952) panoramic images with over 12k carefully annotated QA pairs and affordance masks. Furthermore, we propose PAP, a training-free, coarse-to-fine pipeline inspired by the human foveal visual system to tackle the ultra-high resolution and severe distortion inherent in panoramic images. PAP employs recursive visual routing via grid prompting to progressively locate targets, applies an adaptive gaze mechanism to rectify local geometric distortions, and utilizes a cascaded grounding pipeline to extract precise instance-level masks. Experimental results on PAP-12K reveal that existing affordance prediction methods designed for standard perspective images suffer severe performance degradation and fail due to the unique challenges of panoramic vision. In contrast, PAP framework effectively overcomes these obstacles, significantly outperforming state-of-the-art baselines and highlighting the immense potential of panoramic perception for robust embodied intelligence.

Transformers have revolutionized computer vision and natural language processing, but their high computational complexity limits their application in high-resolution image processing and long-context analysis. This paper introduces Vision-RWKV (VRWKV), a model adapted from the RWKV model used in the NLP field with necessary modifications for vision tasks. Similar to the Vision Transformer (ViT), our model is designed to efficiently handle sparse inputs and demonstrate robust global processing capabilities, while also scaling up effectively, accommodating both large-scale parameters and extensive datasets. Its distinctive advantage lies in its reduced spatial aggregation complexity, which renders it exceptionally adept at processing high-resolution images seamlessly, eliminating the necessity for windowing operations. Our evaluations demonstrate that VRWKV surpasses ViT's performance in image classification and has significantly faster speeds and lower memory usage processing high-resolution inputs. In dense prediction tasks, it outperforms window-based models, maintaining comparable speeds. These results highlight VRWKV's potential as a more efficient alternative for visual perception tasks. Code is released at https://github.com/OpenGVLab/Vision-RWKV.

Applying NeRF to downstream perception tasks for scene understanding and representation is becoming increasingly popular. Most existing methods treat semantic prediction as an additional rendering task, i.e., the "label rendering" task, to build semantic NeRFs. However, by rendering semantic/instance labels per pixel without considering the contextual information of the rendered image, these methods usually suffer from unclear boundary segmentation and abnormal segmentation of pixels within an object. To solve this problem, we propose Generalized Perception NeRF (GP-NeRF), a novel pipeline that makes the widely used segmentation model and NeRF work compatibly under a unified framework, for facilitating context-aware 3D scene perception. To accomplish this goal, we introduce transformers to aggregate radiance as well as semantic embedding fields jointly for novel views and facilitate the joint volumetric rendering of both fields. In addition, we propose two self-distillation mechanisms, i.e., the Semantic Distill Loss and the Depth-Guided Semantic Distill Loss, to enhance the discrimination and quality of the semantic field and the maintenance of geometric consistency. In evaluation, we conduct experimental comparisons under two perception tasks (i.e. semantic and instance segmentation) using both synthetic and real-world datasets. Notably, our method outperforms SOTA approaches by 6.94\%, 11.76\%, and 8.47\% on generalized semantic segmentation, finetuning semantic segmentation, and instance segmentation, respectively.

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular architectures tend to suffer from cumulative errors and latency. Instance Prediction models provide a unified solution, performing Bird's-Eye-View segmentation and motion estimation across current and future frames using information directly obtained from different sensors. However, a key challenge in these models lies in the effective processing of the dense spatial and temporal information inherent in dynamic driving environments. This level of complexity demands architectures capable of capturing fine-grained motion patterns and long-range dependencies without compromising real-time performance. We introduce BEVPredFormer, a novel camera-only architecture for BEV instance prediction that uses attention-based temporal processing to improve temporal and spatial comprehension of the scene and relies on an attention-based 3D projection of the camera information. BEVPredFormer employs a recurrent-free design that incorporates gated transformer layers, divided spatio-temporal attention mechanisms, and multi-scale head tasks. Additionally, we incorporate a difference-guided feature extraction module that enhances temporal representations. Extensive ablation studies validate the effectiveness of each architectural component. When evaluated on the nuScenes dataset, BEVPredFormer was on par or surpassed State-Of-The-Art methods, highlighting its potential for robust and efficient Autonomous Driving perception.

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar and camera data for 3D semantic occupancy prediction. Our fusion leverages the complementary strengths of both modalities: 4D radar provides reliable range, velocity, and angle measurements in challenging conditions, while cameras contribute rich semantic and texture information. We further show that integrating depth cues from camera pixels enables lifting 2D images to 3D, improving scene reconstruction accuracy. Additionally, we introduce a fully automatically labeled dataset for training semantic occupancy models, substantially reducing reliance on costly manual annotation. Experiments demonstrate the robustness of 4D radar across diverse scenarios, highlighting its potential to advance autonomous vehicle perception.

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a more comprehensive perception of a 3D scene, in this paper, we propose a SurroundOcc method to predict the 3D occupancy with multi-camera images. We first extract multi-scale features for each image and adopt spatial 2D-3D attention to lift them to the 3D volume space. Then we apply 3D convolutions to progressively upsample the volume features and impose supervision on multiple levels. To obtain dense occupancy prediction, we design a pipeline to generate dense occupancy ground truth without expansive occupancy annotations. Specifically, we fuse multi-frame LiDAR scans of dynamic objects and static scenes separately. Then we adopt Poisson Reconstruction to fill the holes and voxelize the mesh to get dense occupancy labels. Extensive experiments on nuScenes and SemanticKITTI datasets demonstrate the superiority of our method. Code and dataset are available at https://github.com/weiyithu/SurroundOcc

Monocular cameras are attractive for robotic perception due to their low cost and ease of deployment, yet achieving reliable real-time spatial understanding from a single image stream remains challenging. While recent multi-task dense prediction models have improved per-pixel depth and semantic estimation, translating these advances into stable monocular mapping systems is still non-trivial. This paper presents M2H-MX, a real-time multi-task perception model for monocular spatial understanding. The model preserves multi-scale feature representations while introducing register-gated global context and controlled cross-task interaction in a lightweight decoder, enabling depth and semantic predictions to reinforce each other under strict latency constraints. Its outputs integrate directly into an unmodified monocular SLAM pipeline through a compact perception-to-mapping interface. We evaluate both dense prediction accuracy and in-the-loop system performance. On NYUDv2, M2H-MX-L achieves state-of-the-art results, improving semantic mIoU by 6.6% and reducing depth RMSE by 9.4% over representative multi-task baselines. When deployed in a real-time monocular mapping system on ScanNet, M2H-MX reduces average trajectory error by 60.7% compared to a strong monocular SLAM baseline while producing cleaner metric-semantic maps. These results demonstrate that modern multi-task dense prediction can be reliably deployed for real-time monocular spatial perception in robotic systems.

3D semantic occupancy prediction is an emerging perception paradigm in autonomous driving, providing a voxel-level representation of both geometric details and semantic categories. However, its effectiveness is inherently constrained in single-vehicle setups by occlusions, restricted sensor range, and narrow viewpoints. To address these limitations, collaborative perception enables the exchange of complementary information, thereby enhancing the completeness and accuracy of predictions. Despite its potential, research on collaborative 3D semantic occupancy prediction is hindered by the lack of dedicated datasets. To bridge this gap, we design a high-resolution semantic voxel sensor in CARLA to produce dense and comprehensive annotations. We further develop a baseline model that performs inter-agent feature fusion via spatial alignment and attention aggregation. In addition, we establish benchmarks with varying prediction ranges designed to systematically assess the impact of spatial extent on collaborative prediction. Experimental results demonstrate the superior performance of our baseline, with increasing gains observed as range expands. Our code is available at https://github.com/tlab-wide/Co3SOP}{https://github.com/tlab-wide/Co3SOP.

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to embodied agents that demand to gradually perceive the scene through progressive embodied exploration. In this paper, we formulate an embodied 3D occupancy prediction task to target this practical scenario and propose a Gaussian-based EmbodiedOcc framework to accomplish it. We initialize the global scene with uniform 3D semantic Gaussians and progressively update local regions observed by the embodied agent. For each update, we extract semantic and structural features from the observed image and efficiently incorporate them via deformable cross-attention to refine the regional Gaussians. Finally, we employ Gaussian-to-voxel splatting to obtain the global 3D occupancy from the updated 3D Gaussians. Our EmbodiedOcc assumes an unknown (i.e., uniformly distributed) environment and maintains an explicit global memory of it with 3D Gaussians. It gradually gains knowledge through the local refinement of regional Gaussians, which is consistent with how humans understand new scenes through embodied exploration. We reorganize an EmbodiedOcc-ScanNet benchmark based on local annotations to facilitate the evaluation of the embodied 3D occupancy prediction task. Our EmbodiedOcc outperforms existing methods by a large margin and accomplishes the embodied occupancy prediction with high accuracy and efficiency. Code: https://github.com/YkiWu/EmbodiedOcc.

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel space for supervision. However, the expensive annotation process and sometimes ambiguous labels have severely constrained the usability and scalability of 3D occupancy models. To address this, we present RenderOcc, a novel paradigm for training 3D occupancy models only using 2D labels. Specifically, we extract a NeRF-style 3D volume representation from multi-view images, and employ volume rendering techniques to establish 2D renderings, thus enabling direct 3D supervision from 2D semantics and depth labels. Additionally, we introduce an Auxiliary Ray method to tackle the issue of sparse viewpoints in autonomous driving scenarios, which leverages sequential frames to construct comprehensive 2D rendering for each object. To our best knowledge, RenderOcc is the first attempt to train multi-view 3D occupancy models only using 2D labels, reducing the dependence on costly 3D occupancy annotations. Extensive experiments demonstrate that RenderOcc achieves comparable performance to models fully supervised with 3D labels, underscoring the significance of this approach in real-world applications.

The ability to forecast human-environment collisions from egocentric observations is vital to enable collision avoidance in applications such as VR, AR, and wearable assistive robotics. In this work, we introduce the challenging problem of predicting collisions in diverse environments from multi-view egocentric videos captured from body-mounted cameras. Solving this problem requires a generalizable perception system that can classify which human body joints will collide and estimate a collision region heatmap to localize collisions in the environment. To achieve this, we propose a transformer-based model called COPILOT to perform collision prediction and localization simultaneously, which accumulates information across multi-view inputs through a novel 4D space-time-viewpoint attention mechanism. To train our model and enable future research on this task, we develop a synthetic data generation framework that produces egocentric videos of virtual humans moving and colliding within diverse 3D environments. This framework is then used to establish a large-scale dataset consisting of 8.6M egocentric RGBD frames. Extensive experiments show that COPILOT generalizes to unseen synthetic as well as real-world scenes. We further demonstrate COPILOT outputs are useful for downstream collision avoidance through simple closed-loop control. Please visit our project webpage at https://sites.google.com/stanford.edu/copilot.

Recent advances in large language models (LLMs) have sparked growing interest in integrating language-driven techniques into trajectory prediction. By leveraging their semantic and reasoning capabilities, LLMs are reshaping how autonomous systems perceive, model, and predict trajectories. This survey provides a comprehensive overview of this emerging field, categorizing recent work into five directions: (1) Trajectory prediction via language modeling paradigms, (2) Direct trajectory prediction with pretrained language models, (3) Language-guided scene understanding for trajectory prediction, (4) Language-driven data generation for trajectory prediction, (5) Language-based reasoning and interpretability for trajectory prediction. For each, we analyze representative methods, highlight core design choices, and identify open challenges. This survey bridges natural language processing and trajectory prediction, offering a unified perspective on how language can enrich trajectory prediction.

We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes multiple RGB stereo cameras for 360-degree coverage, along with depth, optical flow, stereo disparity, LiDAR point clouds, ground truth poses, semantic segmented images, and occupancy maps with semantic labels. Data is collected using an integrated automatic pipeline, which generates trajectories mimicking the motion patterns of various ground robot platforms, including wheeled and legged robots. We collect 910 trajectories across 70 environments, resulting in 1.5 million samples. Evaluations on occupancy prediction and SLAM tasks reveal that state-of-the-art methods trained on existing datasets struggle to generalize across diverse scenes. TartanGround can serve as a testbed for training and evaluation of a broad range of learning-based tasks, including occupancy prediction, SLAM, neural scene representation, perception-based navigation, and more, enabling advancements in robotic perception and autonomy towards achieving robust models generalizable to more diverse scenarios. The dataset and codebase are available on the webpage: https://tartanair.org/tartanground

3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D occupancy. However, they fail to consider the continuity of driving scenarios and ignore the strong prior provided by the evolution of 3D scenes (e.g., only dynamic objects move). In this paper, we propose a world-model-based framework to exploit the scene evolution for perception. We reformulate 3D occupancy prediction as a 4D occupancy forecasting problem conditioned on the current sensor input. We decompose the scene evolution into three factors: 1) ego motion alignment of static scenes; 2) local movements of dynamic objects; and 3) completion of newly-observed scenes. We then employ a Gaussian world model (GaussianWorld) to explicitly exploit these priors and infer the scene evolution in the 3D Gaussian space considering the current RGB observation. We evaluate the effectiveness of our framework on the widely used nuScenes dataset. Our GaussianWorld improves the performance of the single-frame counterpart by over 2% in mIoU without introducing additional computations. Code: https://github.com/zuosc19/GaussianWorld.

Many existing motion prediction approaches rely on symbolic perception outputs to generate agent trajectories, such as bounding boxes, road graph information and traffic lights. This symbolic representation is a high-level abstraction of the real world, which may render the motion prediction model vulnerable to perception errors (e.g., failures in detecting open-vocabulary obstacles) while missing salient information from the scene context (e.g., poor road conditions). An alternative paradigm is end-to-end learning from raw sensors. However, this approach suffers from the lack of interpretability and requires significantly more training resources. In this work, we propose tokenizing the visual world into a compact set of scene elements and then leveraging pre-trained image foundation models and LiDAR neural networks to encode all the scene elements in an open-vocabulary manner. The image foundation model enables our scene tokens to encode the general knowledge of the open world while the LiDAR neural network encodes geometry information. Our proposed representation can efficiently encode the multi-frame multi-modality observations with a few hundred tokens and is compatible with most transformer-based architectures. To evaluate our method, we have augmented Waymo Open Motion Dataset with camera embeddings. Experiments over Waymo Open Motion Dataset show that our approach leads to significant performance improvements over the state-of-the-art.

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce computational overhead, the generation of high-quality 3D Gaussians relies heavily on accurate geometric cues, which are often insufficient in purely vision-centric paradigms. To bridge this gap, we advocate for injecting the strong geometric grounding capability from Vision Foundation Models (VFMs) into occupancy prediction. In this regard, we introduce Visual Geometry Grounded Gaussian Splatting (VG3S), a novel framework that empowers Gaussian-based occupancy prediction with cross-view 3D geometric grounding. Specifically, to fully exploit the rich 3D geometric priors from a frozen VFM, we propose a plug-and-play hierarchical geometric feature adapter, which can effectively transform generic VFM tokens via feature aggregation, task-specific alignment, and multi-scale restructuring. Extensive experiments on the nuScenes occupancy benchmark demonstrate that VG3S achieves remarkable improvements of 12.6% in IoU and 7.5% in mIoU over the baseline. Furthermore, we show that VG3S generalizes seamlessly across diverse VFMs, consistently enhancing occupancy prediction accuracy and firmly underscoring the immense value of integrating priors derived from powerful, pre-trained geometry-grounded VFMs.

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box representations fail to capture complete semantic and geometric information of the scene, and their performance significantly degrades when encountering undefined or occluded objects. To address these limitations, we propose a novel multi-UAV collaborative occupancy prediction framework. Our framework effectively preserves 3D spatial structures and semantics through integrating a Spatial-Aware Feature Encoder and Cross-Agent Feature Integration. To enhance efficiency, we further introduce Altitude-Aware Feature Reduction to compactly represent scene information, along with a Dual-Mask Perceptual Guidance mechanism to adaptively select features and reduce communication overhead. Due to the absence of suitable benchmark datasets, we extend three datasets for evaluation: two virtual datasets (Air-to-Pred-Occ and UAV3D-Occ) and one real-world dataset (GauUScene-Occ). Experiments results demonstrate that our method achieves state-of-the-art accuracy, significantly outperforming existing collaborative methods while reducing communication overhead to only a fraction of previous approaches.

Historically, neuroscience has progressed by fragmenting into specialized domains, each focusing on isolated modalities, tasks, or brain regions. While fruitful, this approach hinders the development of a unified model of cognition. Here, we introduce TRIBE, the first deep neural network trained to predict brain responses to stimuli across multiple modalities, cortical areas and individuals. By combining the pretrained representations of text, audio and video foundational models and handling their time-evolving nature with a transformer, our model can precisely model the spatial and temporal fMRI responses to videos, achieving the first place in the Algonauts 2025 brain encoding competition with a significant margin over competitors. Ablations show that while unimodal models can reliably predict their corresponding cortical networks (e.g. visual or auditory networks), they are systematically outperformed by our multimodal model in high-level associative cortices. Currently applied to perception and comprehension, our approach paves the way towards building an integrative model of representations in the human brain. Our code is available at https://github.com/facebookresearch/algonauts-2025.

Accurate 3D semantic occupancy perception is essential for autonomous driving in complex environments with diverse and irregular objects. While vision-centric methods suffer from geometric inaccuracies, LiDAR-based approaches often lack rich semantic information. To address these limitations, MS-Occ, a novel multi-stage LiDAR-camera fusion framework which includes middle-stage fusion and late-stage fusion, is proposed, integrating LiDAR's geometric fidelity with camera-based semantic richness via hierarchical cross-modal fusion. The framework introduces innovations at two critical stages: (1) In the middle-stage feature fusion, the Gaussian-Geo module leverages Gaussian kernel rendering on sparse LiDAR depth maps to enhance 2D image features with dense geometric priors, and the Semantic-Aware module enriches LiDAR voxels with semantic context via deformable cross-attention; (2) In the late-stage voxel fusion, the Adaptive Fusion (AF) module dynamically balances voxel features across modalities, while the High Classification Confidence Voxel Fusion (HCCVF) module resolves semantic inconsistencies using self-attention-based refinement. Experiments on the nuScenes-OpenOccupancy benchmark show that MS-Occ achieves an Intersection over Union (IoU) of 32.1% and a mean IoU (mIoU) of 25.3%, surpassing the state-of-the-art by +0.7% IoU and +2.4% mIoU. Ablation studies further validate the contribution of each module, with substantial improvements in small-object perception, demonstrating the practical value of MS-Occ for safety-critical autonomous driving scenarios.

The vision-based perception for autonomous driving has undergone a transformation from the bird-eye-view (BEV) representations to the 3D semantic occupancy. Compared with the BEV planes, the 3D semantic occupancy further provides structural information along the vertical direction. This paper presents OccFormer, a dual-path transformer network to effectively process the 3D volume for semantic occupancy prediction. OccFormer achieves a long-range, dynamic, and efficient encoding of the camera-generated 3D voxel features. It is obtained by decomposing the heavy 3D processing into the local and global transformer pathways along the horizontal plane. For the occupancy decoder, we adapt the vanilla Mask2Former for 3D semantic occupancy by proposing preserve-pooling and class-guided sampling, which notably mitigate the sparsity and class imbalance. Experimental results demonstrate that OccFormer significantly outperforms existing methods for semantic scene completion on SemanticKITTI dataset and for LiDAR semantic segmentation on nuScenes dataset. Code is available at https://github.com/zhangyp15/OccFormer.

We introduce Argoverse 2 (AV2) - a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution imagery from seven ring cameras, and two stereo cameras in addition to lidar point clouds, and 6-DOF map-aligned pose. Sequences contain 3D cuboid annotations for 26 object categories, all of which are sufficiently-sampled to support training and evaluation of 3D perception models. The Lidar Dataset contains 20,000 sequences of unlabeled lidar point clouds and map-aligned pose. This dataset is the largest ever collection of lidar sensor data and supports self-supervised learning and the emerging task of point cloud forecasting. Finally, the Motion Forecasting Dataset contains 250,000 scenarios mined for interesting and challenging interactions between the autonomous vehicle and other actors in each local scene. Models are tasked with the prediction of future motion for "scored actors" in each scenario and are provided with track histories that capture object location, heading, velocity, and category. In all three datasets, each scenario contains its own HD Map with 3D lane and crosswalk geometry - sourced from data captured in six distinct cities. We believe these datasets will support new and existing machine learning research problems in ways that existing datasets do not. All datasets are released under the CC BY-NC-SA 4.0 license.

With the rapid growth in language processing applications, fairness has emerged as an important consideration in data-driven solutions. Although various fairness definitions have been explored in the recent literature, there is lack of consensus on which metrics most accurately reflect the fairness of a system. In this work, we propose a new formulation : ACCUMULATED PREDICTION SENSITIVITY, which measures fairness in machine learning models based on the model's prediction sensitivity to perturbations in input features. The metric attempts to quantify the extent to which a single prediction depends on a protected attribute, where the protected attribute encodes the membership status of an individual in a protected group. We show that the metric can be theoretically linked with a specific notion of group fairness (statistical parity) and individual fairness. It also correlates well with humans' perception of fairness. We conduct experiments on two text classification datasets : JIGSAW TOXICITY, and BIAS IN BIOS, and evaluate the correlations between metrics and manual annotations on whether the model produced a fair outcome. We observe that the proposed fairness metric based on prediction sensitivity is statistically significantly more correlated with human annotation than the existing counterfactual fairness metric.

Multimodal Large Language Models (MLLMs) are increasingly deployed in human-facing roles where personality perception is critical, yet existing benchmarks evaluate this capability solely on numerical Big Five score prediction, leaving open whether models truly perceive personality through behavioral understanding or merely prejudge through superficial pattern matching. We address this gap with three contributions. (i) A new task: we formalize Grounded Personality Reasoning (GPR), which requires MLLMs to anchor each Big Five rating in observable evidence through a chain of rating, reasoning, and grounding. (ii) A new dataset: we release MM-OCEAN (1,104 videos, 5,320 MCQs), produced by a multi-agent pipeline with human verification, with timestamped behavioral observations, evidence-grounded trait analyses, and seven categories of cue-grounding MCQs. (iii) Benchmark and analysis: we design a three-tier evaluation (rating, reasoning, grounding) plus four sample-level failure-mode metrics: Prejudice Rate (PR), Confabulation Rate (CR), Integration-failure Rate (IR), and Holistic-grounding Rate (HR), and benchmark 27 MLLMs (13 closed, 14 open). The analysis uncovers a striking Prejudice Gap: across the field, 51% of correct ratings are not grounded in retrieved cues, and the Holistic-Grounding Rate spans only 0-33.5%. These findings expose a disconnect between getting the right score and reasoning for the right reason, charting a roadmap for grounded social cognition in MLLMs.

While next-token prediction is considered a promising path towards artificial general intelligence, it has struggled to excel in multimodal tasks, which are still dominated by diffusion models (e.g., Stable Diffusion) and compositional approaches (e.g., CLIP combined with LLMs). In this paper, we introduce Emu3, a new suite of state-of-the-art multimodal models trained solely with next-token prediction. By tokenizing images, text, and videos into a discrete space, we train a single transformer from scratch on a mixture of multimodal sequences. Emu3 outperforms several well-established task-specific models in both generation and perception tasks, surpassing flagship models such as SDXL and LLaVA-1.6, while eliminating the need for diffusion or compositional architectures. Emu3 is also capable of generating high-fidelity video via predicting the next token in a video sequence. We simplify complex multimodal model designs by converging on a singular focus: tokens, unlocking great potential for scaling both during training and inference. Our results demonstrate that next-token prediction is a promising path towards building general multimodal intelligence beyond language. We open-source key techniques and models to support further research in this direction.

Object detection has long been dominated by traditional coordinate regression-based models, such as YOLO, DETR, and Grounding DINO. Although recent efforts have attempted to leverage MLLMs to tackle this task, they face challenges like low recall rate, duplicate predictions, coordinate misalignment, etc. In this work, we bridge this gap and propose Rex-Omni, a 3B-scale MLLM that achieves state-of-the-art object perception performance. On benchmarks like COCO and LVIS, Rex-Omni attains performance comparable to or exceeding regression-based models (e.g., DINO, Grounding DINO) in a zero-shot setting. This is enabled by three key designs: 1) Task Formulation: we use special tokens to represent quantized coordinates from 0 to 999, reducing the model's learning difficulty and improving token efficiency for coordinate prediction; 2) Data Engines: we construct multiple data engines to generate high-quality grounding, referring, and pointing data, providing semantically rich supervision for training; \3) Training Pipelines: we employ a two-stage training process, combining supervised fine-tuning on 22 million data with GRPO-based reinforcement post-training. This RL post-training leverages geometry-aware rewards to effectively bridge the discrete-to-continuous coordinate prediction gap, improve box accuracy, and mitigate undesirable behaviors like duplicate predictions that stem from the teacher-guided nature of the initial SFT stage. Beyond conventional detection, Rex-Omni's inherent language understanding enables versatile capabilities such as object referring, pointing, visual prompting, GUI grounding, spatial referring, OCR and key-pointing, all systematically evaluated on dedicated benchmarks. We believe that Rex-Omni paves the way for more versatile and language-aware visual perception systems.

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance, size, and shape-than on texture when interacting with objects. Since such 3D geometric information can be acquired from widely available depth cameras, it appears feasible to endow robots with similar perceptual capabilities. Our pilot study found that using depth cameras for manipulation is challenging, primarily due to their limited accuracy and susceptibility to various types of noise. In this work, we propose Camera Depth Models (CDMs) as a simple plugin on daily-use depth cameras, which take RGB images and raw depth signals as input and output denoised, accurate metric depth. To achieve this, we develop a neural data engine that generates high-quality paired data from simulation by modeling a depth camera's noise pattern. Our results show that CDMs achieve nearly simulation-level accuracy in depth prediction, effectively bridging the sim-to-real gap for manipulation tasks. Notably, our experiments demonstrate, for the first time, that a policy trained on raw simulated depth, without the need for adding noise or real-world fine-tuning, generalizes seamlessly to real-world robots on two challenging long-horizon tasks involving articulated, reflective, and slender objects, with little to no performance degradation. We hope our findings will inspire future research in utilizing simulation data and 3D information in general robot policies.

We introduce SonicSense, a holistic design of hardware and software to enable rich robot object perception through in-hand acoustic vibration sensing. While previous studies have shown promising results with acoustic sensing for object perception, current solutions are constrained to a handful of objects with simple geometries and homogeneous materials, single-finger sensing, and mixing training and testing on the same objects. SonicSense enables container inventory status differentiation, heterogeneous material prediction, 3D shape reconstruction, and object re-identification from a diverse set of 83 real-world objects. Our system employs a simple but effective heuristic exploration policy to interact with the objects as well as end-to-end learning-based algorithms to fuse vibration signals to infer object properties. Our framework underscores the significance of in-hand acoustic vibration sensing in advancing robot tactile perception.

Multimodal large language models (MLLMs) have shown great potential in perception and interpretation tasks, but their capabilities in predictive reasoning remain under-explored. To address this gap, we introduce a novel benchmark that assesses the predictive reasoning capabilities of MLLMs across diverse scenarios. Our benchmark targets three important domains: abstract pattern reasoning, human activity prediction, and physical interaction prediction. We further develop three evaluation methods powered by large language model to robustly quantify a model's performance in predicting and reasoning the future based on multi-visual context. Empirical experiments confirm the soundness of the proposed benchmark and evaluation methods via rigorous testing and reveal pros and cons of current popular MLLMs in the task of predictive reasoning. Lastly, our proposed benchmark provides a standardized evaluation framework for MLLMs and can facilitate the development of more advanced models that can reason and predict over complex long sequence of multimodal input.

Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely heavily on supervised training with high-quality 3D data and manual annotations, limiting scalability and diversity. To address this limitation, we propose PAWS, a method that directly extracts object articulations from hand-object interactions in large-scale in-the-wild egocentric videos. We evaluate our method on the public data sets, including HD-EPIC and Arti4D data sets, achieving significant improvements over baselines. We further demonstrate that the extracted articulations benefit downstream tasks, including fine-tuning 3D articulation prediction models and enabling robot manipulation. See the project website at https://aaltoml.github.io/PAWS/.

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining full-perception results. Some multi-task learning methods try to unify multiple tasks with one model, but do not solve the conflicts in multi-task learning. In this paper, we introduce M3Net, a novel multimodal and multi-task network that simultaneously tackles detection, segmentation, and 3D occupancy prediction for autonomous driving and achieves superior performance than single task model. M3Net takes multimodal data as input and multiple tasks via query-token interactions. To enhance the integration of multi-modal features for multi-task learning, we first propose the Modality-Adaptive Feature Integration (MAFI) module, which enables single-modality features to predict channel-wise attention weights for their high-performing tasks, respectively. Based on integrated features, we then develop task-specific query initialization strategies to accommodate the needs of detection/segmentation and 3D occupancy prediction. Leveraging the properly initialized queries, a shared decoder transforms queries and BEV features layer-wise, facilitating multi-task learning. Furthermore, we propose a Task-oriented Channel Scaling (TCS) module in the decoder to mitigate conflicts between optimizing for different tasks. Additionally, our proposed multi-task querying and TCS module support both Transformer-based decoder and Mamba-based decoder, demonstrating its flexibility to different architectures. M3Net achieves state-of-the-art multi-task learning performance on the nuScenes benchmarks.

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the first Satellite-Assisted 3D occupancy prediction model, which leverages GPS & IMU to integrate historical yet readily available satellite imagery into real-time applications, effectively mitigating limitations of ego-vehicle perceptions, involving occlusions and degraded performance in distant regions. To address the core challenges of cross-view perception, we propose: 1) Dynamic-Decoupling Fusion, which resolves inconsistencies in dynamic regions caused by the temporal asynchrony between satellite and street views; 2) 3D-Proj Guidance, a module that enhances 3D feature extraction from inherently 2D satellite imagery; and 3) Uniform Sampling Alignment, which aligns the sampling density between street and satellite views. Evaluated on Occ3D-nuScenes, SA-Occ achieves state-of-the-art performance, especially among single-frame methods, with a 39.05% mIoU (a 6.97% improvement), while incurring only 6.93 ms of additional latency per frame. Our code and newly curated dataset are available at https://github.com/chenchen235/SA-Occ.

Multi-agent trajectory prediction at signalized intersections is crucial for developing efficient intelligent transportation systems and safe autonomous driving systems. Due to the complexity of intersection scenarios and the limitations of single-vehicle perception, the performance of vehicle-centric prediction methods has reached a plateau. In this paper, we introduce an Infrastructure-to-Everything (I2X) collaborative prediction scheme. In this scheme, roadside units (RSUs) independently forecast the future trajectories of all vehicles and transmit these predictions unidirectionally to subscribing vehicles. Building on this scheme, we propose I2XTraj, a dedicated infrastructure-based trajectory prediction model. I2XTraj leverages real-time traffic signal states, prior maneuver strategy knowledge, and multi-agent interactions to generate accurate, joint multi-modal trajectory prediction. First, a continuous signal-informed mechanism is proposed to adaptively process real-time traffic signals to guide trajectory proposal generation under varied intersection configurations. Second, a driving strategy awareness mechanism estimates the joint distribution of maneuver strategies by integrating spatial priors of intersection areas with dynamic vehicle states, enabling coverage of the full set of feasible maneuvers. Third, a spatial-temporal-mode attention network models multi-agent interactions to refine and adjust joint trajectory outputs.Finally, I2XTraj is evaluated on two real-world datasets of signalized intersections, the V2X-Seq and the SinD drone dataset. In both single-infrastructure and online collaborative scenarios, our model outperforms state-of-the-art methods by over 30\% on V2X-Seq and 15\% on SinD, demonstrating strong generalizability and robustness.

Deep learning models are increasingly employed for perception, prediction, and control in complex systems. Embedding physical knowledge into these models is crucial for achieving realistic and consistent outputs, a challenge often addressed by physics-informed machine learning. However, integrating physical knowledge with representation learning becomes difficult when dealing with high-dimensional observation data, such as images, particularly under conditions of incomplete or imprecise state information. To address this, we propose Physically Interpretable World Models, a novel architecture that aligns learned latent representations with real-world physical quantities. Our method combines a variational autoencoder with a dynamical model that incorporates unknown system parameters, enabling the discovery of physically meaningful representations. By employing weak supervision with interval-based constraints, our approach eliminates the reliance on ground-truth physical annotations. Experimental results demonstrate that our method improves the quality of learned representations while achieving accurate predictions of future states, advancing the field of representation learning in dynamic systems.

Accurately perceiving instances and predicting their future motion are key tasks for autonomous vehicles, enabling them to navigate safely in complex urban traffic. While bird's-eye view (BEV) representations are commonplace in perception for autonomous driving, their potential in a motion prediction setting is less explored. Existing approaches for BEV instance prediction from surround cameras rely on a multi-task auto-regressive setup coupled with complex post-processing to predict future instances in a spatio-temporally consistent manner. In this paper, we depart from this paradigm and propose an efficient novel end-to-end framework named POWERBEV, which differs in several design choices aimed at reducing the inherent redundancy in previous methods. First, rather than predicting the future in an auto-regressive fashion, POWERBEV uses a parallel, multi-scale module built from lightweight 2D convolutional networks. Second, we show that segmentation and centripetal backward flow are sufficient for prediction, simplifying previous multi-task objectives by eliminating redundant output modalities. Building on this output representation, we propose a simple, flow warping-based post-processing approach which produces more stable instance associations across time. Through this lightweight yet powerful design, POWERBEV outperforms state-of-the-art baselines on the NuScenes Dataset and poses an alternative paradigm for BEV instance prediction. We made our code publicly available at: https://github.com/EdwardLeeLPZ/PowerBEV.

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the fine-grained 3D structure of a scene with a single plane. To address this, we propose a tri-perspective view (TPV) representation which accompanies BEV with two additional perpendicular planes. We model each point in the 3D space by summing its projected features on the three planes. To lift image features to the 3D TPV space, we further propose a transformer-based TPV encoder (TPVFormer) to obtain the TPV features effectively. We employ the attention mechanism to aggregate the image features corresponding to each query in each TPV plane. Experiments show that our model trained with sparse supervision effectively predicts the semantic occupancy for all voxels. We demonstrate for the first time that using only camera inputs can achieve comparable performance with LiDAR-based methods on the LiDAR segmentation task on nuScenes. Code: https://github.com/wzzheng/TPVFormer.

Perception-centric systems are typically implemented with a modular encoder-decoder pipeline: a vision backbone for feature extraction and a separate decoder (or late-fusion module) for task prediction. This raises a central question: is this architectural separation essential or can a single early-fusion stack do both perception and task modeling at scale? We introduce Falcon Perception, a unified dense Transformer that processes image patches and text tokens in a shared parameter space from the first layer, using a hybrid attention pattern (bidirectional among image tokens, causal for prediction tokens) to combine global visual context with autoregressive, variable-length instance generation. To keep dense outputs practical, Falcon Perception retains a lightweight token interface and decodes continuous spatial outputs with specialized heads, enabling parallel high-resolution mask prediction. Our design promotes simplicity: we keep a single scalable backbone and shift complexity toward data and training signals, adding only small heads where outputs are continuous and dense. On SA-Co, Falcon Perception improves mask quality to 68.0 Macro-F_1 compared to 62.3 of SAM3. We also introduce PBench, a benchmark targeting compositional prompts (OCR, spatial constraints, relations) and dense long-context regimes, where the model shows better gains. Finally, we extend the same early-fusion recipe to Falcon OCR: a compact 300M-parameter model which attains 80.3% on olmOCR and 88.64 on OmniDocBench.

This paper presents Youtu-Parsing, an efficient and versatile document parsing model designed for high-performance content extraction. The architecture employs a native Vision Transformer (ViT) featuring a dynamic-resolution visual encoder to extract shared document features, coupled with a prompt-guided Youtu-LLM-2B language model for layout analysis and region-prompted decoding. Leveraging this decoupled and feature-reusable framework, we introduce a high-parallelism decoding strategy comprising two core components: token parallelism and query parallelism. The token parallelism strategy concurrently generates up to 64 candidate tokens per inference step, which are subsequently validated through a verification mechanism. This approach yields a 5--11x speedup over traditional autoregressive decoding and is particularly well-suited for highly structured scenarios, such as table recognition. To further exploit the advantages of region-prompted decoding, the query parallelism strategy enables simultaneous content prediction for multiple bounding boxes (up to five), providing an additional 2x acceleration while maintaining output quality equivalent to standard decoding. Youtu-Parsing encompasses a diverse range of document elements, including text, formulas, tables, charts, seals, and hierarchical structures. Furthermore, the model exhibits strong robustness when handling rare characters, multilingual text, and handwritten content. Extensive evaluations demonstrate that Youtu-Parsing achieves state-of-the-art (SOTA) performance on both the OmniDocBench and olmOCR-bench benchmarks. Overall, Youtu-Parsing demonstrates significant experimental value and practical utility for large-scale document intelligence applications.

High-quality 3D world models are pivotal for embodied intelligence and Artificial General Intelligence (AGI), underpinning applications such as AR/VR content creation and robotic navigation. Despite the established strong imaginative priors, current video foundation models lack explicit 3D grounding capabilities, thus being limited in both spatial consistency and their utility for downstream 3D reasoning tasks. In this work, we present FantasyWorld, a geometry-enhanced framework that augments frozen video foundation models with a trainable geometric branch, enabling joint modeling of video latents and an implicit 3D field in a single forward pass. Our approach introduces cross-branch supervision, where geometry cues guide video generation and video priors regularize 3D prediction, thus yielding consistent and generalizable 3D-aware video representations. Notably, the resulting latents from the geometric branch can potentially serve as versatile representations for downstream 3D tasks such as novel view synthesis and navigation, without requiring per-scene optimization or fine-tuning. Extensive experiments show that FantasyWorld effectively bridges video imagination and 3D perception, outperforming recent geometry-consistent baselines in multi-view coherence and style consistency. Ablation studies further confirm that these gains stem from the unified backbone and cross-branch information exchange.

Multimodal adversarial attacks for dense prediction remain largely underexplored. In particular, visual-infrared (VI) perception systems introduce unique challenges due to heterogeneous spectral characteristics and modality-specific intensity distributions. Existing adversarial patch methods are primarily designed for single-modal inputs and fail to account for crossspectral inconsistencies, leading to reduced attack effectiveness and poor stealthiness when applied to VI dense prediction models. To address these challenges, we propose a joint position-color optimization framework (AP-PCO) for generating adversarial patches in visual-infrared settings. The proposed method optimizes patch placement and color composition simultaneously using a fitness function derived from model outputs, enabling a single patch to perturb both visible and infrared modalities. To further bridge spectral discrepancies, we introduce a crossmodal color adaptation strategy that constrains patch appearance according to infrared grayscale characteristics while maintaining strong perturbations in the visible domain, thereby reducing cross-spectral saliency. The optimization procedure operates without requiring internal model information, supporting flexible black-box attacks. Extensive experiments on visual-infrared dense prediction tasks demonstrate that the proposed AP-PCO achieves consistently strong attack performance across multiple architectures, providing a practical benchmark for robustness evaluation in VI perception systems.

Time series data is fundamental to decision-making in many crucial domains including healthcare, finance, and environmental science. However, analyzing this data often requires incorporating unstructured contextual information, answering domain-specific questions, and generating natural language explanations -- capabilities that traditional time series models lack due to their inability to process text. While Large Language Models (LLMs) excel at contextual reasoning and knowledge integration, they struggle with numerical time series due to inefficient text-based representations and limited exposure to temporal data during pretraining. We address this gap by augmenting an LLM with specialized time series perception through a patch-based encoder-decoder architecture. We train this Time Series-augmented LLM (TsLLM) on a large corpus of over 2 million interleaved time series and text examples spanning diverse analysis tasks: forecasting with contextual information, time series question-answering, pattern explanation, classification with natural language outputs, and report generation. This training enables TsLLM to leverage both its language understanding and newly acquired temporal reasoning capabilities. While not designed to surpass specialized models on traditional benchmarks, TsLLM demonstrates strong performance on tasks requiring the integration of time series analysis with natural language -- capabilities that existing approaches cannot provide. Our work establishes a new paradigm for time series analysis that bridges numerical computation and natural language understanding, democratizing access to sophisticated temporal reasoning through natural language interaction.

Accurate object detection and prediction are critical to ensure the safety and efficiency of self-driving architectures. Predicting object trajectories and occupancy enables autonomous vehicles to anticipate movements and make decisions with future information, increasing their adaptability and reducing the risk of accidents. Current State-Of-The-Art (SOTA) approaches often isolate the detection, tracking, and prediction stages, which can lead to significant prediction errors due to accumulated inaccuracies between stages. Recent advances have improved the feature representation of multi-camera perception systems through Bird's-Eye View (BEV) transformations, boosting the development of end-to-end systems capable of predicting environmental elements directly from vehicle sensor data. These systems, however, often suffer from high processing times and number of parameters, creating challenges for real-world deployment. To address these issues, this paper introduces a novel BEV instance prediction architecture based on a simplified paradigm that relies only on instance segmentation and flow prediction. The proposed system prioritizes speed, aiming at reduced parameter counts and inference times compared to existing SOTA architectures, thanks to the incorporation of an efficient transformer-based architecture. Furthermore, the implementation of the proposed architecture is optimized for performance improvements in PyTorch version 2.1. Code and trained models are available at https://github.com/miguelag99/Efficient-Instance-Prediction

We propose a new graph convolutional block, called MusGConv, specifically designed for the efficient processing of musical score data and motivated by general perceptual principles. It focuses on two fundamental dimensions of music, pitch and rhythm, and considers both relative and absolute representations of these components. We evaluate our approach on four different musical understanding problems: monophonic voice separation, harmonic analysis, cadence detection, and composer identification which, in abstract terms, translate to different graph learning problems, namely, node classification, link prediction, and graph classification. Our experiments demonstrate that MusGConv improves the performance on three of the aforementioned tasks while being conceptually very simple and efficient. We interpret this as evidence that it is beneficial to include perception-informed processing of fundamental musical concepts when developing graph network applications on musical score data.

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end perception network for multi-tasking and proposes several key optimizations to improve accuracy. First, the paper proposes efficient segmentation head and box/class prediction networks based on weighted bidirectional feature network. Second, the paper proposes automatically customized anchor for each level in the weighted bidirectional feature network. Third, the paper proposes an efficient training loss function and training strategy to balance and optimize network. Based on these optimizations, we have developed an end-to-end perception network to perform multi-tasking, including traffic object detection, drivable area segmentation and lane detection simultaneously, called HybridNets, which achieves better accuracy than prior art. In particular, HybridNets achieves 77.3 mean Average Precision on Berkeley DeepDrive Dataset, outperforms lane detection with 31.6 mean Intersection Over Union with 12.83 million parameters and 15.6 billion floating-point operations. In addition, it can perform visual perception tasks in real-time and thus is a practical and accurate solution to the multi-tasking problem. Code is available at https://github.com/datvuthanh/HybridNets.

Unsupervised learning for geometric perception (depth, optical flow, etc.) is of great interest to autonomous systems. Recent works on unsupervised learning have made considerable progress on perceiving geometry; however, they usually ignore the coherence of objects and perform poorly under scenarios with dark and noisy environments. In contrast, supervised learning algorithms, which are robust, require large labeled geometric dataset. This paper introduces SIGNet, a novel framework that provides robust geometry perception without requiring geometrically informative labels. Specifically, SIGNet integrates semantic information to make depth and flow predictions consistent with objects and robust to low lighting conditions. SIGNet is shown to improve upon the state-of-the-art unsupervised learning for depth prediction by 30% (in squared relative error). In particular, SIGNet improves the dynamic object class performance by 39% in depth prediction and 29% in flow prediction. Our code will be made available at https://github.com/mengyuest/SIGNet