相关论文: S2R-ViT for Multi-Agent Cooperative Perception: Br…

Existing multi-agent perception algorithms usually select to share deep neural features extracted from raw sensing data between agents, achieving a trade-off between accuracy and communication bandwidth limit. However, these methods assume…

Vehicle-to-Vehicle technologies have enabled autonomous vehicles to share information to see through occlusions, greatly enhancing perception performance. Nevertheless, existing works all focused on homogeneous traffic where vehicles are…

Simulation offers a scalable and efficient alternative to real-world data collection for learning visuomotor robotic policies. However, the simulation-to-reality, or Sim2Real distribution shift -- introduced by employing simulation-trained…

In this paper, we investigate the application of Vehicle-to-Everything (V2X) communication to improve the perception performance of autonomous vehicles. We present a robust cooperative perception framework with V2X communication using a…

Deep reinforcement learning models are notoriously data hungry, yet real-world data is expensive and time consuming to obtain. The solution that many have turned to is to use simulation for training before deploying the robot in a real…

Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…

Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the…

Vehicle-to-Everything (V2X) collaborative perception is crucial for autonomous driving. However, achieving high-precision V2X perception requires a significant amount of annotated real-world data, which can always be expensive and hard to…

Modern perception systems of autonomous vehicles are known to be sensitive to occlusions and lack the capability of long perceiving range. It has been one of the key bottlenecks that prevents Level 5 autonomy. Recent research has…

Image-based learning methods for autonomous vehicle perception tasks require large quantities of labelled, real data in order to properly train without overfitting, which can often be incredibly costly. While leveraging the power of…

In the context of autonomous navigation of terrestrial robots, the creation of realistic models for agent dynamics and sensing is a widespread habit in the robotics literature and in commercial applications, where they are used for model…

Modern autonomous vehicle perception systems are often constrained by occlusions, blind spots, and limited sensing range. While existing cooperative perception paradigms, such as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I),…

Multi-agent collaborative perception could significantly upgrade the perception performance by enabling agents to share complementary information with each other through communication. It inevitably results in a fundamental trade-off…

Sim2Real domain transfer offers a cost-effective and scalable approach for developing LiDAR-based perception (e.g., object detection, tracking, segmentation) in Intelligent Transportation Systems (ITS). However, perception models trained in…

Vehicle-to-everything (V2X) communication techniques enable the collaboration between vehicles and many other entities in the neighboring environment, which could fundamentally improve the perception system for autonomous driving. However,…

Vehicle-to-vehicle (V2V) communications have greatly enhanced the perception capabilities of connected and automated vehicles (CAVs) by enabling information sharing to "see through the occlusions", resulting in significant performance…

Vehicle-to-Everything (V2X) collaborative perception extends sensing beyond single vehicle limits through transmission. However, as more agents participate, existing frameworks face two key challenges: (1) the participating agents are…

The diverse agents in multi-agent perception systems may be from different companies. Each company might use the identical classic neural network architecture based encoder for feature extraction. However, the data source to train the…

Cooperative perception through Vehicle-to-Everything (V2X) communication offers significant potential for enhancing vehicle perception by mitigating occlusions and expanding the field of view. However, past research has predominantly…

To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…