相关论文: Motion Inspired Unsupervised Perception and Predic…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

We present a novel self-taught framework for unsupervised metric learning, which alternates between predicting class-equivalence relations between data through a moving average of an embedding model and learning the model with the predicted…

There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

In this thesis we address two related aspects of visual object recognition: the use of motion information, and the use of internal supervision, to help unsupervised learning. These two aspects are inter-related in the current study, since…

Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR, Robotics, and Autonomous driving. The lack of real, non-simulated, labeled…

This paper presents a semi-supervised learning framework to train a keypoint detector using multiview image streams given the limited labeled data (typically $<$4\%). We leverage the complementary relationship between multiview geometry and…

One of the key challenges for autonomous vehicles is the ability to accurately predict the motion of other objects in the surrounding environment, such as pedestrians or other vehicles. In this contribution, a novel motion forecasting…

Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…

Scene flow is the task of estimating 3D motion vectors to individual points of a dynamic 3D scene. Motion vectors have shown to be beneficial for downstream tasks such as action classification and collision avoidance. However, data…

The perception of motion behavior in a dynamic environment holds significant importance for autonomous driving systems, wherein class-agnostic motion prediction methods directly predict the motion of the entire point cloud. While most…