相关论文: Policy Pre-training for Autonomous Driving via Sel…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

The significance of cross-view 3D geometric modeling capabilities for autonomous driving is self-evident, yet existing Vision-Language Models (VLMs) inherently lack this capability, resulting in their mediocre performance. While some…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

With the rapid advancement of large language models, there has been a growing interest in their capabilities in mathematical reasoning. However, existing research has primarily focused on text-based algebra problems, neglecting the study of…

Deep visuomotor policy learning, which aims to map raw visual observation to action, achieves promising results in control tasks such as robotic manipulation and autonomous driving. However, it requires a huge number of online interactions…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

We propose Video Gaussian Masked Autoencoders (Video-GMAE), a self-supervised approach for representation learning that encodes a sequence of images into a set of Gaussian splats moving over time. Representing a video as a set of Gaussians…

Ego-centric driving videos available online provide an abundant source of visual data for autonomous driving, yet their lack of annotations makes it difficult to learn representations that capture both semantic structure and 3D geometry.…

Throughout the history of computer vision, while research has explored the integration of images (visual) and point clouds (geometric), many advancements in image and 3D object recognition have tended to process these modalities separately.…

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,…

Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on learning geometric scene information while neglecting…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

Recent advancements in world models have revolutionized dynamic environment simulation, allowing systems to foresee future states and assess potential actions. In autonomous driving, these capabilities help vehicles anticipate the behavior…

Recent advances in robot imitation learning have yielded powerful visuomotor policies capable of manipulating a wide variety of objects directly from monocular visual inputs. However, monocular observations inherently lack reliable depth…

3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…

Autonomous robots typically need to construct representations of their surroundings and adapt their motions to the geometry of their environment. Here, we tackle the problem of constructing a policy model for collision-free motion…

This paper introduces VisionPAD, a novel self-supervised pre-training paradigm designed for vision-centric algorithms in autonomous driving. In contrast to previous approaches that employ neural rendering with explicit depth supervision,…

Camera-controllable image editing aims to synthesize novel views of a given scene under varying camera poses while strictly preserving cross-view geometric consistency. However, existing methods typically rely on fragmented geometric…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…