相关论文: AD-PT: Autonomous Driving Pre-Training with Large-…

Personalizing diffusion models using limited data presents significant challenges, including overfitting, loss of prior knowledge, and degradation of text alignment. Overfitting leads to shifts in the noise prediction distribution,…

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…

This work explores the application of ensemble modeling to the multidimensional regression problem of trajectory prediction for vehicles in urban environments. As newer and bigger state-of-the-art prediction models for autonomous driving…

Autonomous vehicles generate massive volumes of point cloud data, yet only a subset is relevant for specific tasks such as collision detection, traffic analysis, or congestion monitoring. Effectively querying this data is essential to…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Annotating large-scale point clouds is highly time-consuming and often infeasible for many complex real-world tasks. Point cloud pre-training has therefore become a promising strategy for learning discriminative representations without…

Object detection is a crucial component of autonomous driving, and many detection applications have been developed to address this task. These applications often rely on backbone architectures, which extract representation features from…

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…

Deep Neural Networks (DNNs) often rely on very large datasets for training. Given the large size of such datasets, it is conceivable that they contain certain samples that either do not contribute or negatively impact the DNN's…

Deep neural networks have established themselves as the state-of-the-art methodology in almost all computer vision tasks to date. But their application to processing data lying on non-Euclidean domains is still a very active area of…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

Self-supervised learning of point cloud aims to leverage unlabeled 3D data to learn meaningful representations without reliance on manual annotations. However, current approaches face challenges such as limited data diversity and inadequate…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…

With the rapid development of intelligent vehicles and Advanced Driver-Assistance Systems (ADAS), a new trend is that mixed levels of human driver engagements will be involved in the transportation system. Therefore, necessary visual…

The current mainstream and state-of-the-art anomaly detection (AD) methods are substantially established on pretrained feature networks yielded by ImageNet pretraining. However, regardless of supervised or self-supervised pretraining, the…

Recently, the pre-training paradigm combining Transformer and masked language modeling has achieved tremendous success in NLP, images, and point clouds, such as BERT. However, directly extending BERT from NLP to point clouds requires…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Accumulating substantial volumes of real-world driving data proves pivotal in the realm of trajectory forecasting for autonomous driving. Given the heavy reliance of current trajectory forecasting models on data-driven methodologies, we aim…

To accommodate constantly changing road conditions, real-time vision model training is essential for autonomous driving (AD). Federated learning (FL) serves as a promising paradigm to enable autonomous vehicles to train models…