Author

Soonmin Hwang

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Preprint Sep 2026

Retrieve-to-Localize: Bridging Large Language Models and LiDAR Geometry for Spatial Grounding

LiDAR provides precise geometric information for spatial perception tasks such as object detection in autonomous driving and outdoor robotics. However, recognizing and localizing individual objects is not sufficient to answer questions that require composing spatial relations and grounding the intended target. Motivate...

Byounggun Park, Giyong Moon, Jusung Kim et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Planning-Aligned Pretraining of BEV Representations with Sparse Action-Conditioned Targets for End-to-End Autonomous Driving

PAVER, Planning-Aligned BEV Encoder Pretraining is introduced, where from a single LiDAR sweep, PAVER constructs sparse risk and unknown targets describing occupied and unobserved evidence along rule-based ego motions, preserving the downstream architecture and camera-only inference.

Jaeha Song, Soonmin Hwang · 0 citations