Related papers: CoRA: A Collaborative Robust Architecture with Hyb…
Collaborative perception by leveraging the shared semantic information plays a crucial role in overcoming the individual limitations of isolated agents. However, existing collaborative perception methods tend to focus solely on the spatial…
Cooperative perception plays a vital role in extending a vehicle's sensing range beyond its line-of-sight. However, exchanging raw sensory data under limited communication resources is infeasible. Towards enabling an efficient cooperative…
Due to the scale and complexity of cloud systems, a system failure would trigger an "alert storm", i.e., massive correlated alerts. Although these alerts can be traced back to a few root causes, the overwhelming number makes it infeasible…
Cooperative perception enables vehicles to share sensor readings and has become a new paradigm to improve driving safety, where the key enabling technology for realizing this vision is to real-time and accurately align and fuse the…
In this paper, we address the challenges associated with merging low-rank adaptations of large neural networks. With the rise of parameter-efficient adaptation techniques, such as Low-Rank Adaptation (LoRA), model fine-tuning has become…
Cooperative perception among autonomous agents overcomes the limitations of single-agent sensing, but bandwidth constraints in vehicle-to-everything (V2X) networks require efficient communication policies. Existing approaches rely on…
This paper presents a two-phase cooperative communication strategy and an optimal power allocation strategy to transmit sensor observations to a fusion center in a large-scale sensor network. Outage probability is used to evaluate the…
The effectiveness of autonomous vehicles relies on reliable perception capabilities. Despite significant advancements in artificial intelligence and sensor fusion technologies, current single-vehicle perception systems continue to encounter…
Long range communication with LoRa has become popular as it avoids the complexity of multi-hop communication at low cost and low energy consumption. LoRa is openly accessible, but its packets are particularly vulnerable to collisions due to…
Collaborative perception has recently shown great potential to improve perception capabilities over single-agent perception. Existing collaborative perception methods usually consider an ideal communication environment. However, in…
Collaborative perception among multiple connected and autonomous vehicles can greatly enhance perceptive capabilities by allowing vehicles to exchange supplementary information via communications. Despite advances in previous approaches,…
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…
Perception of the driving environment is critical for collision avoidance and route planning to ensure driving safety. Cooperative perception has been widely studied as an effective approach to addressing the shortcomings of single-vehicle…
Collaborative perception is essential for networks of agents with limited sensing capabilities, enabling them to work together by exchanging information to achieve a robust and comprehensive understanding of their environment. However,…
In this paper, we investigate improving the perception performance of autonomous vehicles through communication with other vehicles and road infrastructures. To this end, we introduce a novel collaborative perception architecture, called…
In recent years, autonomous driving has garnered significant attention due to its potential for improving road safety through collaborative perception among connected and autonomous vehicles (CAVs). However, time-varying channel variations…
In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…
In emerging automotive cyber-physical systems (CPS), accurate environmental perception is critical to achieving safety and performance goals. Enabling robust perception for vehicles requires solving multiple complex problems related to…
Cooperative perception enables autonomous agents to share encoded representations over wireless communication to enhance each other's live situational awareness. However, the tension between the limited communication bandwidth and the rich…
By sharing complementary perceptual information, multi-agent collaborative perception fosters a deeper understanding of the environment. Recent studies on collaborative perception mostly utilize CNNs or Transformers to learn feature…