相关论文: Exploiting map information for self-supervised lea…

This study explores the application of self-supervised learning (SSL) to the task of motion forecasting, an area that has not yet been extensively investigated despite the widespread success of SSL in computer vision and natural language…

Self-supervised learning (SSL) is an emerging technique that has been successfully employed to train convolutional neural networks (CNNs) and graph neural networks (GNNs) for more transferable, generalizable, and robust representation…

The ability to generate online maps using only onboard sensory information is crucial for enabling autonomous driving beyond well-mapped areas. Training models for this task -- predicting lane markers, road edges, and pedestrian crossings…

This paper addresses motion forecasting in multi-agent environments, pivotal for ensuring safety of autonomous vehicles. Traditional as well as recent data-driven marginal trajectory prediction methods struggle to properly learn non-linear…

Self-supervised learning (SSL) recently has achieved outstanding success on recommendation. By setting up an auxiliary task (either predictive or contrastive), SSL can discover supervisory signals from the raw data without human annotation,…

Deep learning has recently achieved significant progress in trajectory forecasting. However, the scarcity of trajectory data inhibits the data-hungry deep-learning models from learning good representations. While mature representation…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…

In recent years, graph neural networks (GNNs) have been widely adopted in the representation learning of graph-structured data and provided state-of-the-art performance in various applications such as link prediction, node classification,…

Predicting the future motion of surrounding agents is essential for autonomous vehicles (AVs) to operate safely in dynamic, human-robot-mixed environments. However, the scarcity of large-scale driving datasets has hindered the development…

Unsupervised pretraining has been transformative in many supervised domains. However, applying such ideas to reinforcement learning (RL) presents a unique challenge in that fine-tuning does not involve mimicking task-specific data, but…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Accurate prediction of material properties facilitates the discovery of novel materials with tailored functionalities. Deep learning models have recently shown superior accuracy and flexibility in capturing structure-property relationships.…

While supervised learning is widely used for perception modules in conventional autonomous driving solutions, scalability is hindered by the huge amount of data labeling needed. In contrast, while end-to-end architectures do not require…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Self-supervised learning (SSL) methods have become a dominant paradigm for creating general purpose models whose capabilities can be transferred to downstream supervised learning tasks. However, most such methods rely on vast amounts of…

Predicting the future of surrounding agents and accordingly planning a safe, goal-directed trajectory are crucial for automated vehicles. Current methods typically rely on imitation learning to optimize metrics against the ground truth,…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

In this work, we explore Self-supervised Learning (SSL) as an auxiliary task to blend the texture-based local descriptors into feature modelling for efficient face analysis. Combining a primary task and a self-supervised auxiliary task is…