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In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

To address the challenges of sensor fusion and safety risk prediction, contemporary closed-loop autonomous driving neural networks leveraging imitation learning typically require a substantial volume of parameters and computational…

Recent end-to-end scene text spotters have achieved great improvement in recognizing arbitrary-shaped text instances. Common approaches for text spotting use region of interest pooling or segmentation masks to restrict features to single…

Transformer-based models have improved visual tracking, but most still cannot run in real time on resource-limited devices, especially for unmanned aerial vehicle (UAV) tracking. To achieve a better balance between performance and…

In autonomous driving, the end-to-end (E2E) driving approach that predicts vehicle control signals directly from sensor data is rapidly gaining attention. To learn a safe E2E driving system, one needs an extensive amount of driving data and…

Most existing Multi-Object Tracking (MOT) approaches follow the Tracking-by-Detection paradigm and the data association framework where objects are firstly detected and then associated. Although deep-learning based method can noticeably…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

Object detection with Transformers (DETR) has achieved a competitive performance over traditional detectors, such as Faster R-CNN. However, the potential of DETR remains largely unexplored for the more challenging task of arbitrary-oriented…

End-to-End (E2E) solutions have emerged as a mainstream approach for autonomous driving systems, with Vision-Language-Action (VLA) models representing a new paradigm that leverages pre-trained multimodal knowledge from Vision-Language…

In the last decade, deep learning (DL) approaches have been used successfully in computer vision (CV) applications. However, DL-based CV models are generally considered to be black boxes due to their lack of interpretability. This black box…

Large-scale deployment of autonomous vehicles has been continually delayed due to safety concerns. On the one hand, comprehensive scene understanding is indispensable, a lack of which would result in vulnerability to rare but complex…

Conventional end-to-end autonomous driving methods often rely on explicit global scene representations, which typically consist of 3D object detection, online mapping, and motion prediction. In contrast, human drivers selectively attend to…

Moving Object Detection (MOD) is a crucial task for the Autonomous Driving pipeline. MOD is usually handled via 2-stream convolutional architectures that incorporates both appearance and motion cues, without considering the inter-relations…

Vision-language-action models have gained significant attention for their ability to model multimodal sequences in embodied instruction following tasks. However, most existing models rely on causal attention, which we find suboptimal for…

In addition to enhancing traffic safety and facilitating prompt emergency response, traffic incident detection plays an indispensable role in intelligent transportation systems by providing real-time traffic status information. This enables…

Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Transformers-based detection head and CNN-based feature encoder to extract features from raw sensor-data has emerged as one of the best…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Optimization based tracking methods have been widely successful by integrating a target model prediction module, providing effective global reasoning by minimizing an objective function. While this inductive bias integrates valuable domain…

This paper tackles the critical challenge of object navigation in autonomous navigation systems, particularly focusing on the problem of target approach and episode termination in environments with long optimal episode length in Deep…

Temporal modeling of objects is a key challenge in multiple object tracking (MOT). Existing methods track by associating detections through motion-based and appearance-based similarity heuristics. The post-processing nature of association…