Related papers: OmniD: Generalizable Robot Manipulation Policy via…
Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…
Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…
In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing…
A Colored point cloud, as a simple and efficient 3D representation, has many advantages in various fields, including robotic navigation and scene reconstruction. This representation is now commonly used in 3D reconstruction tasks relying on…
Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…
Bird's-eye-view (BEV) representations play a crucial role in autonomous driving tasks. Despite recent advancements in BEV generation, inherent noise, stemming from sensor limitations and the learning process, remains largely unaddressed,…
Omnidirectional image (ODI) data is captured with a field-of-view of 360x180, which is much wider than the pinhole cameras and captures richer surrounding environment details than the conventional perspective images. In recent years, the…
Notable breakthroughs in unified understanding and generation modeling have led to remarkable advancements in image understanding, reasoning, production and editing, yet current foundational models predominantly focus on processing images,…
Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…
Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-based perception approaches often struggle with sensor noise,…
We introduce Omni-ID, a novel facial representation designed specifically for generative tasks. Omni-ID encodes holistic information about an individual's appearance across diverse expressions and poses within a fixed-size representation.…
Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…
Data-driven learning has advanced autonomous driving, yet task-specific models struggle with out-of-distribution scenarios due to their narrow optimization objectives and reliance on costly annotated data. We present DriveX, a…
3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…
Biomedical segmentation networks easily suffer from the unexpected misclassification between foreground and background objects when learning on limited and imperfect medical datasets. Inspired by the strong power of Out-of-Distribution…
3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…
Real-world robotic tasks stretch over extended horizons and encompass multiple stages. Learning long-horizon manipulation tasks, however, is a long-standing challenge, and demands decomposing the overarching task into several manageable…
Object-centric world models (OCWM) aim to decompose visual scenes into object-level representations, providing structured abstractions that could improve compositional generalization and data efficiency in reinforcement learning. We…
Predicting and anticipating future outcomes or reasoning about missing information in a sequence are critical skills for agents to be able to make intelligent decisions. This requires strong, temporally coherent generative capabilities.…