相关论文: TridentNet: A Conditional Generative Model for Dyn…

Existing generative approaches for guided image synthesis of multi-object scenes typically rely on 2D controls in the image or text space. As a result, these methods struggle to maintain and respect consistent three-dimensional geometric…

We study the problem of synthetic generation of samples of environmental features for autonomous vehicle navigation. These features are described by a spatiotemporally varying scalar field that we refer to as a threat field. The threat…

We present Compound Conditioned ControlNet, C3Net, a novel generative neural architecture taking conditions from multiple modalities and synthesizing multimodal contents simultaneously (e.g., image, text, audio). C3Net adapts the ControlNet…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…

Many machine learning methods have been recently developed to circumvent the high computational cost of the gradient-based topology optimization. These methods typically require extensive and costly datasets for training, have a difficult…

Behavior prediction in dynamic, multi-agent systems is an important problem in the context of self-driving cars, due to the complex representations and interactions of road components, including moving agents (e.g. pedestrians and vehicles)…

This dissertation attempts to drive innovation in the field of generative modeling for computer vision, by exploring novel formulations of conditional generative models, and innovative applications in images, 3D animations, and video. Our…

We present a neural framework for learning conditional optimal transport (OT) maps between probability distributions. Our approach introduces a conditioning mechanism capable of processing both categorical and continuous conditioning…

High-definition (HD) maps are essential for autonomous driving systems. Traditionally, an expensive and labor-intensive pipeline is implemented to construct HD maps, which is limited in scalability. In recent years, crowdsourcing and online…

Path planning plays an important role in autonomous robot systems. Effective understanding of the surrounding environment and efficient generation of optimal collision-free path are both critical parts for solving path planning problem.…

This paper presents DriVerse, a generative model for simulating navigation-driven driving scenes from a single image and a future trajectory. Previous autonomous driving world models either directly feed the trajectory or discrete control…

Precise trajectory prediction in complex driving scenarios is essential for autonomous vehicles. In practice, different driving scenarios present varying levels of difficulty for trajectory prediction models. However, most existing research…

We present a novel, conditional generative probabilistic model of set-valued data with a tractable log density. This model is a continuous normalizing flow governed by permutation equivariant dynamics. These dynamics are driven by a…

Trajectory prediction is crucial to advance autonomous driving, improving safety, and efficiency. Although end-to-end models based on deep learning have great potential, they often do not consider vehicle dynamic limitations, leading to…

3D multi object generative models allow us to synthesize a large range of novel 3D multi object scenes and also identify objects, shapes, layouts and their positions. But multi object scenes are difficult to create because of the dataset…

Given (small amounts of) time-series' data from a high-dimensional, fine-grained, multiscale dynamical system, we propose a generative framework for learning an effective, lower-dimensional, coarse-grained dynamical model that is predictive…

Effective feature-extraction is critical to models' contextual understanding, particularly for applications to robotics and autonomous driving, such as multimodal trajectory prediction. However, state-of-the-art generative methods face…

Rare and challenging driving scenarios are critical for autonomous vehicle development. Since they are difficult to encounter, simulating or generating them using generative models is a popular approach. Following previous efforts to…

Diffusion probabilistic models have achieved enormous success in the field of image generation and manipulation. In this paper, we explore a novel paradigm of using the diffusion model and classifier guidance in the latent semantic space…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…