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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
GPT-4V Takes the Wheel: Promises and Challenges for Pedes...
Jia Huang, Peng Jiang, Alvika Gautam, Srikanth Saripalli · 2023-11-25 · via cs.RO updates on arXiv.org

Predicting pedestrian behavior is the key to ensure safety and reliability of autonomous vehicles. While deep learning methods have been promising by learning from annotated video frame sequences, they often fail to fully grasp the dynamic interactions between pedestrians and traffic, crucial for accurate predictions. These models also lack nuanced common sense reasoning. Moreover, the manual annotation of datasets for these models is expensive and challenging to adapt to new situations. The advent of Vision Language Models (VLMs) introduces promising alternatives to these issues, thanks to their advanced visual and causal reasoning skills. To our knowledge, this research is the first to conduct both quantitative and qualitative evaluations of VLMs in the context of pedestrian behavior prediction for autonomous driving. We evaluate GPT-4V(ision) on publicly available pedestrian datasets: JAAD and WiDEVIEW. Our quantitative analysis focuses on GPT-4V's ability to predict pedestrian behavior in current and future frames. The model achieves a 57% accuracy in a zero-shot manner, which, while impressive, is still behind the state-of-the-art domain-specific models (70%) in predicting pedestrian crossing actions. Qualitatively, GPT-4V shows an impressive ability to process and interpret complex traffic scenarios, differentiate between various pedestrian behaviors, and detect and analyze groups. However, it faces challenges, such as difficulty in detecting smaller pedestrians and assessing the relative motion between pedestrians and the ego vehicle.