Related papers: SparseDriveV2: Scoring is All You Need for End-to-…
Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…
Diffusion Transformers (DiTs) have shown remarkable performance in generating high-quality videos. However, the quadratic complexity of 3D full attention remains a bottleneck in scaling DiT training, especially with high-definition, lengthy…
Despite numerous efforts for optimizing the performance of Sparse Matrix and Vector Multiplication (SpMV) on modern hardware architectures, few works are done to its sparse counterpart, Sparse Matrix and Sparse Vector Multiplication…
We introduce Sparse Forcing, a training-and-inference paradigm for autoregressive video diffusion models that improves long-horizon generation quality while reducing decoding latency. Sparse Forcing is motivated by an empirical observation…
Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…
Reconstructing PDE solutions from sparse observations is a core challenge in scientific computing. We present FM4PDE, a flow-matching generative framework that learns the joint distribution of PDE coefficients (or initial states) and…
Recent end-to-end autonomous driving approaches have leveraged Vision-Language Models (VLMs) to enhance planning capabilities in complex driving scenarios. However, VLMs are inherently trained as generalist models, lacking specialized…
High-definition road maps play a crucial role in the functionality and verification of highly automated driving functions. These contain precise information about the road network, geometry, condition, as well as traffic signs. Despite…
Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…
End-to-end (E2E) autonomous driving aims to directly map sensory observations to driving actions, but its real-world deployment is hindered by evolving data distributions and the high cost of continual annotation. While combining imitation…
This work presents a stochastic dynamic programming (SDP) algorithm that aims at minimizing an economic criteria based on the total energy consumption of a range extender electric vehicle (REEV). This algorithm integrates information from…
End-to-End Autonomous Driving (E2E-AD) systems are typically grouped by the nature of their outputs: (i) waypoint-based models that predict a future trajectory, and (ii) action-based models that directly output throttle, steer and brake.…
Semantic occupancy has emerged as a powerful representation in world models for its ability to capture rich spatial semantics. However, most existing occupancy world models rely on static and fixed embeddings or grids, which inherently…
Sequential convex programming has been established as an effective framework for solving nonconvex trajectory planning problems. However, its performance is highly sensitive to problem parameters, including trajectory variables, algorithmic…
The latest advancements in multi-modal large language models (MLLMs) have spurred a strong renewed interest in end-to-end motion planning approaches for autonomous driving. Many end-to-end approaches rely on human annotations to learn…
Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…
Cloud-hosted LLM inference for autonomous driving adds round-trip delay and depends on stable connectivity, while purely local edge models struggle under occlusion. We present SwarmDrive, a semantic Vehicle-to-Vehicle (V2V) coordination…
Sparse matrix vector multiplication (SpMV) is an important kernel in scientific and engineering applications. The previous optimizations are sparse matrix format specific and expose the choice of the best format to application programmers.…
End-to-end autonomous driving, which directly maps raw sensor inputs to low-level vehicle controls, is an important part of Embodied AI. Despite successes in applying Multimodal Large Language Models (MLLMs) for high-level traffic scene…
High-index saddle dynamics (HiSD) is an effective approach for computing saddle points of a prescribed Morse index and constructing solution landscapes for complex nonlinear systems. However, for problems with ill-conditioned Hessians…