相关论文: Aggregated Sparse Attention for Steering Angle Pre…

Accommodating long sequences efficiently in autoregressive Transformers, especially within an extended context window, poses significant challenges due to the quadratic computational complexity and substantial KV memory requirements…

We study the design of learning architectures for behavioural planning in a dense traffic setting. Such architectures should deal with a varying number of nearby vehicles, be invariant to the ordering chosen to describe them, while staying…

Visual AutoRegressive (VAR) modeling has garnered significant attention for its innovative next-scale prediction paradigm. However, mainstream VAR paradigms attend to all tokens across historical scales at each autoregressive step. As the…

We introduce a simple post-training method that makes transformer attention sparse without sacrificing performance. Applying a flexible sparsity regularisation under a constrained-loss objective, we show on models up to 7B parameters that…

Anomaly detection from a driver's perspective when driving is important to autonomous vehicles. As a part of Advanced Driver Assistance Systems (ADAS), it can remind the driver about dangers timely. Compared with traditional studied scenes…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

Predicting driver attention is a critical problem for developing explainable autonomous driving systems and understanding driver behavior in mixed human-autonomous vehicle traffic scenarios. Although significant progress has been made…

Attention is the cornerstone of modern Large Language Models (LLMs). Yet its quadratic complexity hinders efficiency and scalability, especially for long-context processing. A promising approach is to leverage sparsity in attention.…

Driving an automobile involves the tasks of observing surroundings, then making a driving decision based on these observations (steer, brake, coast, etc.). In autonomous driving, all these tasks have to be automated. Autonomous driving…

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…

Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…

Driver distraction strongly contributes to crash-risk. Therefore, assistance systems that warn the driver if her distraction poses a hazard to road safety, promise a great safety benefit. Current approaches either seek to detect critical…

We introduce a new architecture for unsupervised object-centric representation learning and multi-object detection and segmentation, which uses a translation-equivariant attention mechanism to predict the coordinates of the objects present…

Attention modules, as simple and effective tools, have not only enabled deep neural networks to achieve state-of-the-art results in many domains, but also enhanced their interpretability. Most current models use deterministic attention…

Attention (and distraction) recognition is a key factor in improving human-robot collaboration. We present an assembly scenario where a human operator and a cobot collaborate equally to piece together a gearbox. The setup provides multiple…

In-context learning with attention enables large neural networks to make context-specific predictions by selectively focusing on relevant examples. Here, we adapt this idea to supervised learning procedures such as lasso regression and…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task…

Autonomous vehicles need to accomplish their tasks while interacting with human drivers in traffic. It is thus crucial to equip autonomous vehicles with artificial reasoning to better comprehend the intentions of the surrounding traffic,…

Contrastive learning has proven instrumental in learning unbiased representations of data, especially in complex environments characterized by high-cardinality and high-dimensional sensitive information. However, existing approaches within…