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

Learning effective protein representations is critical in a variety of tasks in biology such as predicting protein function or structure. Existing approaches usually pretrain protein language models on a large number of unlabeled amino acid…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Understanding and predicting dynamics of the physical world can enhance a robot's ability to plan and interact effectively in complex environments. While recent video generation models have shown strong potential in modeling dynamic scenes,…

Feed-forward reconstruction has been progressed rapidly, with the Visual Geometry Grounded Transformer (VGGT) being a notable baseline. However, directly applying VGGT to autonomous driving (AD) fails to capture three domain-specific…

The rapid growth of autonomous driving datasets has enabled the scaling of powerful motion forecasting models. While large-scale pretraining provides strong performance, the standard imitation objective may not fully capture the complex…

We present VertiCoder, a self-supervised representation learning approach for robot mobility on vertically challenging terrain. Using the same pre-training process, VertiCoder can handle four different downstream tasks, including forward…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

Despite their proficiency in general tasks, Multi-modal Large Language Models (MLLMs) struggle with automatic Geometry Problem Solving (GPS), which demands understanding diagrams, interpreting symbols, and performing complex reasoning. This…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

Multi-view 3D visual grounding is critical for autonomous driving vehicles to interpret natural languages and localize target objects in complex environments. However, existing datasets and methods suffer from coarse-grained language…

Molecular property prediction is an important problem in drug discovery and materials science. As geometric structures have been demonstrated necessary for molecular property prediction, 3D information has been combined with various graph…

Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parameters-lookahead distance and steering gain-are chosen.…

Extrapolative novel view synthesis can reduce camera-rig dependency in autonomous driving by generating standardized virtual views from heterogeneous sensors. Existing methods degrade outside recorded trajectories because extrapolated poses…

Single-view depth estimation (SVDE) plays a crucial role in scene understanding for AR applications, 3D modeling, and robotics, providing the geometry of a scene based on a single image. Recent works have shown that a successful solution…

The core of self-supervised point cloud learning lies in setting up appropriate pretext tasks, to construct a pre-training framework that enables the encoder to perceive 3D objects effectively. In this paper, we integrate two prevalent…

Powerful sentence encoders trained for multiple languages are on the rise. These systems are capable of embedding a wide range of linguistic properties into vector representations. While explicit probing tasks can be used to verify the…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

How to learn discriminative video representation from unlabeled videos is challenging but crucial for video analysis. The latest attempts seek to learn a representation model by predicting the appearance contents in the masked regions.…

Building generalist robot policies that can handle diverse tasks in open-ended environments is a central challenge in robotics. To leverage knowledge from large-scale pretraining, prior work (VLA) has typically built generalist policies…

Good pre-trained visual representations could enable robots to learn visuomotor policy efficiently. Still, existing representations take a one-size-fits-all-tasks approach that comes with two important drawbacks: (1) Being completely…