Open-vocabulary 3D scene understanding presents a significant challenge in the field. Recent works have sought to transfer knowledge embedded in vision-language models from 2D to 3D domains. However, these approaches often require prior knowledge from specific 3D scene datasets, limiting their applicability in open-world scenarios. The Segment Anything Model (SAM) has demonstrated remarkable zero-shot segmentation capabilities, prompting us to investigate its potential for comprehending 3D scenes without training. In this paper, we introduce OV-SAM3D, a training-free method that contains a universal framework for understanding open-vocabulary 3D scenes. This framework is designed to perform understanding tasks for any 3D scene without requiring prior knowledge of the scene. Specifically, our method is composed of two key sub-modules: First, we initiate the process by generating superpoints as the initial 3D prompts and refine these prompts using segment masks derived from SAM. Moreover, we then integrate a specially designed overlapping score table with open tags from the Recognize Anything Model (RAM) to produce final 3D instances with open-world labels. Empirical evaluations on the ScanNet200 and nuScenes datasets demonstrate that our approach surpasses existing open-vocabulary methods in unknown open-world environments. Code is available at https://github.com/HanchenTai/OV-SAM3D.git.

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either data generation or the pretraining paradigms of world models. Unlike the aforementioned prior works, we propose Drive-OccWorld, which adapts a vision-centric 4D forecasting world model to end-to-end planning for autonomous driving. Specifically, we first introduce a semantic and motion-conditional normalization in the memory module, which accumulates semantic and dynamic information from historical BEV embeddings. These BEV features are then conveyed to the world decoder for future occupancy and flow forecasting, considering both geometry and spatiotemporal modeling. Additionally, we propose injecting flexible action conditions, such as velocity, steering angle, trajectory, and commands, into the world model to enable controllable generation and facilitate a broader range of downstream applications. Furthermore, we explore integrating the generative capabilities of the 4D world model with end-to-end planning, enabling continuous forecasting of future states and the selection of optimal trajectories using an occupancy-based cost function. Extensive experiments on the nuScenes dataset demonstrate that our method can generate plausible and controllable 4D occupancy, opening new avenues for driving world generation and end-to-end planning.

Multimodal Visual Object Tracking (VOT) has recently gained significant attention due to its robustness. Early research focused on fully fine-tuning RGB-based trackers, which was inefficient and lacked generalized representation due to the scarcity of multimodal data. Therefore, recent studies have utilized prompt tuning to transfer pre-trained RGB-based trackers to multimodal data. However, the modality gap limits pre-trained knowledge recall, and the dominance of the RGB modality persists, preventing the full utilization of information from other modalities. To address these issues, we propose a novel symmetric multimodal tracking framework called SDSTrack. We introduce lightweight adaptation for efficient fine-tuning, which directly transfers the feature extraction ability from RGB to other domains with a small number of trainable parameters and integrates multimodal features in a balanced, symmetric manner. Furthermore, we design a complementary masked patch distillation strategy to enhance the robustness of trackers in complex environments, such as extreme weather, poor imaging, and sensor failure. Extensive experiments demonstrate that SDSTrack outperforms state-of-the-art methods in various multimodal tracking scenarios, including RGB+Depth, RGB+Thermal, and RGB+Event tracking, and exhibits impressive results in extreme conditions. Our source code is available at: https://github.com/hoqolo/SDSTrack.