相关论文: Visual Exemplar Driven Task-Prompting for Unified …

Visual Prompt Tuning (VPT) has become a promising solution for Parameter-Efficient Fine-Tuning (PEFT) approach for Vision Transformer (ViT) models by partially fine-tuning learnable tokens while keeping most model parameters frozen. Recent…

Multimodal Large Language Models (MLLMs) demonstrate robust zero-shot capabilities across diverse vision-language tasks after training on mega-scale datasets. However, dense prediction tasks, such as semantic segmentation and keypoint…

Multimodal pretraining is an effective strategy for the trinity of goals of representation learning in autonomous robots: 1) extracting both local and global task progressions; 2) enforcing temporal consistency of visual representation; 3)…

Visual In-Context Learning (VICL) has emerged as a powerful paradigm, enabling models to perform novel visual tasks by learning from in-context examples. The dominant "retrieve-then-prompt" approach typically relies on selecting the single…

The use of Vision-Language Models (VLMs) in automated driving applications is becoming increasingly common, with the aim of leveraging their reasoning and generalisation capabilities to handle long tail scenarios. However, these models…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…

Embedding models have been crucial in enabling various downstream tasks such as semantic similarity, information retrieval, and clustering. Recently, there has been a surge of interest in developing universal text embedding models that can…

Current multimodal models, aimed at solving Vision and Language (V+L) tasks, predominantly repurpose Vision Encoders (VE) as feature extractors. While many VEs -- of different architectures, trained on different data and objectives -- are…

Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating…

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,…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…

In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…

Prompt learning represents a promising method for adapting pre-trained vision-language models (VLMs) to various downstream tasks by learning a set of text embeddings. One challenge inherent to these methods is the poor generalization…

Constructing a large-scale labeled dataset in the real world, especially for high-level tasks (eg, Visual Question Answering), can be expensive and time-consuming. In addition, with the ever-growing amounts of data and architecture…

We introduce a new inference task - Visual Entailment (VE) - which differs from traditional Textual Entailment (TE) tasks whereby a premise is defined by an image, rather than a natural language sentence as in TE tasks. A novel dataset…

Trajectory prediction with uncertainty is a critical and challenging task for autonomous driving. Nowadays, we can easily access sensor data represented in multiple views. However, cross-view consistency has not been evaluated by the…

Enabling robots to solve multiple manipulation tasks has a wide range of industrial applications. While learning-based approaches enjoy flexibility and generalizability, scaling these approaches to solve such compositional tasks remains a…

We propose an end-to-end driving model that integrates a multi-task UNet (MTUNet) architecture and control algorithms in a pipeline of data flow from a front camera through this model to driving decisions. It provides quantitative measures…