相关论文: HOPE: Hierarchical Spatial-temporal Network for Oc…

This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to navigate from a start position to a goal, while satisfying…

This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous…

Autonomous driving requires a persistent understanding of 3D scenes that is robust to temporal disturbances and accounts for potential future actions. We introduce a new concept of 4D Occupancy Spatio-Temporal Persistence (OccSTeP), which…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

Diffusion probabilistic models have set a new standard for generative fidelity but are hindered by a slow iterative sampling process. A powerful training-free strategy to accelerate this process is Schedule Optimization, which aims to find…

In NeRF, a critical problem is to effectively estimate the occupancy to guide empty-space skipping and point sampling. Grid-based methods work well for small-scale scenes. However, on large-scale scenes, they are limited by predefined…

Crowd flow prediction has been increasingly investigated in intelligent urban computing field as a fundamental component of urban management system. The most challenging part of predicting crowd flow is to measure the complicated…

We consider a Continual Reinforcement Learning setup, where a learning agent must continuously adapt to new tasks while retaining previously acquired skill sets, with a focus on the challenge of avoiding forgetting past gathered knowledge…

Recent advances in generative models have shown promise in generating behavior plans for long-horizon, sparse reward tasks. While these approaches have achieved promising results, they often lack a principled framework for hierarchical…

Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve the efficiency of autonomous exploration. We propose HPHS,…

Humans learn adaptively and efficiently throughout their lives. However, incrementally learning tasks causes artificial neural networks to overwrite relevant information learned about older tasks, resulting in 'Catastrophic Forgetting'.…

This technical report summarizes the second-place solution for the Predictive World Model Challenge held at the CVPR-2024 Workshop on Foundation Models for Autonomous Systems. We introduce D$^2$-World, a novel World model that effectively…

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…

This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…

In this paper, we propose a novel model for high-dimensional data, called the Hybrid Orthogonal Projection and Estimation (HOPE) model, which combines a linear orthogonal projection and a finite mixture model under a unified generative…

This technical report presents our solution, "occTransformer" for the 3D occupancy prediction track in the autonomous driving challenge at CVPR 2023. Our method builds upon the strong baseline BEVFormer and improves its performance through…

Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally constructs dense spatial representations on the fly. However, recent Gaussian-centric methods struggle with structural boundary fidelity and rely…

We study the problem of traffic forecasting, aiming to predict the inflow and outflow of a region in the subsequent time slot. The problem is complex due to the intricate spatial and temporal interdependence among regions. Prior works study…

Temporal Heterogeneous Networks play a crucial role in capturing the dynamics and heterogeneity inherent in various real-world complex systems, rendering them a noteworthy research avenue for link prediction. However, existing methods fail…