Related papers: DiffE2E: Rethinking End-to-End Driving with a Hybr…
Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural inputs, such as lane offset and forward speed, before solving…
End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…
End-to-end backpropagation requires storing activations throughout all layers, creating memory bottlenecks that limit model scalability. Existing block-wise training methods offer means to alleviate this problem, but they rely on ad-hoc…
Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…
Autonomous vehicles demand high accuracy and robustness of perception algorithms. To develop efficient and scalable perception algorithms, the maximum information should be extracted from the available sensor data. In this work, we present…
In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…
Recent efforts on Diffusion Mixture-of-Experts (MoE) models have primarily focused on developing more sophisticated routing mechanisms. However, we observe that the underlying architectural configuration space remains markedly…
The End-to-end (E2E) learning-based approach has great potential to reshape the existing communication systems by replacing the transceivers with deep neural networks. To this end, the E2E learning approach needs to assume the availability…
End-to-end (E2E) driving has become a cornerstone of both industry deployment and academic research, offering a single learnable pipeline that maps multi-sensor inputs to actions while avoiding hand-engineered modules. However, the…
Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-stage tasks and their learned representations of observations…
Beyond high-fidelity image synthesis, diffusion models have recently exhibited promising results in dense visual perception tasks. However, most existing work treats diffusion models as a standalone component for perception tasks, employing…
Diffusion models have gained tremendous success in text-to-image generation, yet still lag behind with visual understanding tasks, an area dominated by autoregressive vision-language models. We propose a large-scale and fully end-to-end…
Autonomous driving technology has seen significant advancements, but existing models often fail to fully capture the complexity of multi-agent environments, where interactions between dynamic agents are critical. To address this, we propose…
Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…
Realistic and interactive scene simulation is a key prerequisite for autonomous vehicle (AV) development. In this work, we present SceneDiffuser, a scene-level diffusion prior designed for traffic simulation. It offers a unified framework…
Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…
In layout-to-image (L2I) synthesis, controlled complex scenes are generated from coarse information like bounding boxes. Such a task is exciting to many downstream applications because the input layouts offer strong guidance to the…
Acoustic echo and background noise pose challenges on speech enhancement in hands-free systems and speakerphones. Discriminatively trained end-to-end methods represent a powerful solution for joint acoustic echo control (AEC) and denoising.…
With the increasing popularity of autonomous driving based on the powerful and unified bird's-eye-view (BEV) representation, a demand for high-quality and large-scale multi-view video data with accurate annotation is urgently required.…
This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…