相关论文: ST-P3: End-to-end Vision-based Autonomous Driving …

A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find…

In this paper, we propose an end-to-end self-driving network featuring a sparse attention module that learns to automatically attend to important regions of the input. The attention module specifically targets motion planning, whereas prior…

All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. Recently, with the rise of deep learning, end-to-end control…

Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

We address the problem of video representation learning without human-annotated labels. While previous efforts address the problem by designing novel self-supervised tasks using video data, the learned features are merely on a…

Vehicle-to-everything (V2X) cooperation has emerged as a promising paradigm to overcome the perception limitations of classical autonomous driving by leveraging information from both ego-vehicle and infrastructure sensors. However,…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

Most of the current scene flow methods choose to model scene flow as a per point translation vector without differentiating between static and dynamic components of 3D motion. In this work we present an alternative method for end-to-end…

Reliable anticipation of traffic accidents is essential for advancing autonomous driving systems. However, this objective is limited by two fundamental challenges: the scarcity of diverse, high-quality training data and the frequent absence…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…

This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i)$ learning spatio-temporal motion primitives to encapsulate…

We present a method for trajectory planning for autonomous driving, learning image-based context embeddings that align with motion prediction frameworks and planning-based intention input. Within our method, a ViT encoder takes raw images…

End-to-end autonomous driving aims to build a fully differentiable system that takes raw sensor data as inputs and directly outputs the planned trajectory or control signals of the ego vehicle. State-of-the-art methods usually follow the…

Recently, multi-view diffusion-based 3D generation methods have gained significant attention. However, these methods often suffer from shape and texture misalignment across generated multi-view images, leading to low-quality 3D generation…

Deep neural networks, especially transformer-based architectures, have achieved remarkable success in semantic segmentation for environmental perception. However, existing models process video frames independently, thus failing to leverage…