doScenes: An Autonomous Driving Dataset with Natural Language Instruction for Human Interaction and Vision-Language Navigation

Human-interactive robotic systems, particularly autonomous vehicles (AVs), must effectively integrate human instructions into their motion planning. This paper introduces doScenes, a novel dataset designed to facilitate research on human-vehicle instruction interactions, focusing on short-term directives that directly influence vehicle motion. By annotating multimodal sensor data with natural language instructions and referentiality tags, doScenes bridges the gap between instruction and driving response, enabling context-aware and adaptive planning. Unlike existing datasets that focus on ranking or scene-level reasoning, doScenes emphasizes actionable directives tied to static and dynamic scene objects. This framework addresses limitations in prior research, such as reliance on simulated data or predefined action sets, by supporting nuanced and flexible responses in real-world scenarios. This work lays the foundation for developing learning strategies that seamlessly integrate human instructions into autonomous systems, advancing safe and effective human-vehicle collaboration for vision-language navigation. We make our data publicly available at https://www.github.com/rossgreer/doScenes

Evaluating Cascaded Methods of Vision-Language Models for Zero-Shot Detection and Association of Hardhats for Increased Construction Safety

This paper evaluates the use of vision-language models (VLMs) for zero-shot detection and association of hardhats to enhance construction safety. Given the significant risk of head injuries in construction, proper enforcement of hardhat use is critical. We investigate the applicability of foundation models, specifically OWLv2, for detecting hardhats in real-world construction site images. Our contributions include the creation of a new benchmark dataset, Hardhat Safety Detection Dataset, by filtering and combining existing datasets and the development of a cascaded detection approach. Experimental results on 5,210 images demonstrate that the OWLv2 model achieves an average precision of 0.6493 for hardhat detection. We further analyze the limitations and potential improvements for real-world applications, highlighting the strengths and weaknesses of current foundation models in safety perception domains.

Creativity and Visual Communication from Machine to Musician: Sharing a Score through a Robotic Camera

This paper explores the integration of visual communication and musical interaction by implementing a robotic camera within a "Guided Harmony" musical game. We aim to examine co-creative behaviors between human musicians and robotic systems. Our research explores existing methodologies like improvisational game pieces and extends these concepts to include robotic participation using a PTZ camera. The robotic system interprets and responds to nonverbal cues from musicians, creating a collaborative and adaptive musical experience. This initial case study underscores the importance of intuitive visual communication channels. We also propose future research directions, including parameters for refining the visual cue toolkit and data collection methods to understand human-machine co-creativity further. Our findings contribute to the broader understanding of machine intelligence in augmenting human creativity, particularly in musical settings.

Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detection

Accurately detecting 3D objects from monocular images in dynamic roadside scenarios remains a challenging problem due to varying camera perspectives and unpredictable scene conditions. This paper introduces a two-stage training strategy to address these challenges. Our approach initially trains a model on the large-scale synthetic dataset, RoadSense3D, which offers a diverse range of scenarios for robust feature learning. Subsequently, we fine-tune the model on a combination of real-world datasets to enhance its adaptability to practical conditions. Experimental results of the Cube R-CNN model on challenging public benchmarks show a remarkable improvement in detection performance, with a mean average precision rising from 0.26 to 12.76 on the TUM Traffic A9 Highway dataset and from 2.09 to 6.60 on the DAIR-V2X-I dataset when performing transfer learning. Code, data, and qualitative video results are available on the project website: https://roadsense3d.github.io.

Evaluating Vision-Language Models for Zero-Shot Detection, Classification, and Association of Motorcycles, Passengers, and Helmets

Motorcycle accidents pose significant risks, particularly when riders and passengers do not wear helmets. This study evaluates the efficacy of an advanced vision-language foundation model, OWLv2, in detecting and classifying various helmet-wearing statuses of motorcycle occupants using video data. We extend the dataset provided by the CVPR AI City Challenge and employ a cascaded model approach for detection and classification tasks, integrating OWLv2 and CNN models. The results highlight the potential of zero-shot learning to address challenges arising from incomplete and biased training datasets, demonstrating the usage of such models in detecting motorcycles, helmet usage, and occupant positions under varied conditions. We have achieved an average precision of 0.5324 for helmet detection and provided precision-recall curves detailing the detection and classification performance. Despite limitations such as low-resolution data and poor visibility, our research shows promising advancements in automated vehicle safety and traffic safety enforcement systems.

Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Driving

This study investigates the use of trajectory and dynamic state information for efficient data curation in autonomous driving machine learning tasks. We propose methods for clustering trajectory-states and sampling strategies in an active learning framework, aiming to reduce annotation and data costs while maintaining model performance. Our approach leverages trajectory information to guide data selection, promoting diversity in the training data. We demonstrate the effectiveness of our methods on the trajectory prediction task using the nuScenes dataset, showing consistent performance gains over random sampling across different data pool sizes, and even reaching sub-baseline displacement errors at just 50% of the data cost. Our results suggest that sampling typical data initially helps overcome the ''cold start problem,'' while introducing novelty becomes more beneficial as the training pool size increases. By integrating trajectory-state-informed active learning, we demonstrate that more efficient and robust autonomous driving systems are possible and practical using low-cost data curation strategies.

Driver Activity Classification Using Generalizable Representations from Vision-Language Models

Driver activity classification is crucial for ensuring road safety, with applications ranging from driver assistance systems to autonomous vehicle control transitions. In this paper, we present a novel approach leveraging generalizable representations from vision-language models for driver activity classification. Our method employs a Semantic Representation Late Fusion Neural Network (SRLF-Net) to process synchronized video frames from multiple perspectives. Each frame is encoded using a pretrained vision-language encoder, and the resulting embeddings are fused to generate class probability predictions. By leveraging contrastively-learned vision-language representations, our approach achieves robust performance across diverse driver activities. We evaluate our method on the Naturalistic Driving Action Recognition Dataset, demonstrating strong accuracy across many classes. Our results suggest that vision-language representations offer a promising avenue for driver monitoring systems, providing both accuracy and interpretability through natural language descriptors.

Language-Driven Active Learning for Diverse Open-Set 3D Object Detection

Object detection is crucial for ensuring safe autonomous driving. However, data-driven approaches face challenges when encountering minority or novel objects in the 3D driving scene. In this paper, we propose VisLED, a language-driven active learning framework for diverse open-set 3D Object Detection. Our method leverages active learning techniques to query diverse and informative data samples from an unlabeled pool, enhancing the model's ability to detect underrepresented or novel objects. Specifically, we introduce the Vision-Language Embedding Diversity Querying (VisLED-Querying) algorithm, which operates in both open-world exploring and closed-world mining settings. In open-world exploring, VisLED-Querying selects data points most novel relative to existing data, while in closed-world mining, it mines new instances of known classes. We evaluate our approach on the nuScenes dataset and demonstrate its effectiveness compared to random sampling and entropy-querying methods. Our results show that VisLED-Querying consistently outperforms random sampling and offers competitive performance compared to entropy-querying despite the latter's model-optimality, highlighting the potential of VisLED for improving object detection in autonomous driving scenarios.

Multi-Frame, Lightweight & Efficient Vision-Language Models for Question Answering in Autonomous Driving

Vision-Language Models (VLMs) and Multi-Modal Language models (MMLMs) have become prominent in autonomous driving research, as these models can provide interpretable textual reasoning and responses for end-to-end autonomous driving safety tasks using traffic scene images and other data modalities. However, current approaches to these systems use expensive large language model (LLM) backbones and image encoders, making such systems unsuitable for real-time autonomous driving systems where tight memory constraints exist and fast inference time is necessary. To address these previous issues, we develop EM-VLM4AD, an efficient, lightweight, multi-frame vision language model which performs Visual Question Answering for autonomous driving. In comparison to previous approaches, EM-VLM4AD requires at least 10 times less memory and floating point operations, while also achieving higher BLEU-4, METEOR, CIDEr, and ROGUE scores than the existing baseline on the DriveLM dataset. EM-VLM4AD also exhibits the ability to extract relevant information from traffic views related to prompts and can answer questions for various autonomous driving subtasks. We release our code to train and evaluate our model at https://github.com/akshaygopalkr/EM-VLM4AD.

Learning to Find Missing Video Frames with Synthetic Data Augmentation: A General Framework and Application in Generating Thermal Images Using RGB Cameras

Advanced Driver Assistance Systems (ADAS) in intelligent vehicles rely on accurate driver perception within the vehicle cabin, often leveraging a combination of sensing modalities. However, these modalities operate at varying rates, posing challenges for real-time, comprehensive driver state monitoring. This paper addresses the issue of missing data due to sensor frame rate mismatches, introducing a generative model approach to create synthetic yet realistic thermal imagery. We propose using conditional generative adversarial networks (cGANs), specifically comparing the pix2pix and CycleGAN architectures. Experimental results demonstrate that pix2pix outperforms CycleGAN, and utilizing multi-view input styles, especially stacked views, enhances the accuracy of thermal image generation. Moreover, the study evaluates the model's generalizability across different subjects, revealing the importance of individualized training for optimal performance. The findings suggest the potential of generative models in addressing missing frames, advancing driver state monitoring for intelligent vehicles, and underscoring the need for continued research in model generalization and customization.