相关论文: UniPAD: A Universal Pre-training Paradigm for Auto…

Tuning-free face personalization methods have developed along two distinct paradigms: text embedding approaches that map facial features into the text embedding space, and adapter-based methods that inject features through auxiliary…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Long-horizon robotic tasks are hard due to continuous state-action spaces and sparse feedback. Symbolic world models help by decomposing tasks into discrete predicates that capture object properties and relations. Existing methods learn…

The perception of autonomous vehicles using radars has attracted increased research interest due its ability to operate in fog and bad weather. However, training radar models is hindered by the cost and difficulty of annotating large-scale…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Achieving reliable and efficient planning in complex driving environments requires a model that can reason over the scene's geometry, appearance, and dynamics. We present UniDWM, a unified driving world model that advances autonomous…

Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic understanding from reconstruction or necessitate costly per-scene…

Learning-based surface reconstruction based on unsigned distance functions (UDF) has many advantages such as handling open surfaces. We propose SuperUDF, a self-supervised UDF learning which exploits a learned geometry prior for efficient…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…

Autonomous driving sensors generate an enormous amount of data. In this paper, we explore learned multimodal compression for autonomous driving, specifically targeted at 3D object detection. We focus on camera and LiDAR modalities and…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Visual Place Recognition (VPR) has been traditionally formulated as a single-image retrieval task. Using multiple views offers clear advantages, yet this setting remains relatively underexplored and existing methods often struggle to…

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,…

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…

Recently, self-supervised representation learning relying on vast amounts of unlabeled data has been explored as a pre-training method for autonomous driving. However, directly applying popular contrastive or generative methods to this…

Photorealistic 3D vehicle models with high controllability are essential for autonomous driving simulation and data augmentation. While handcrafted CAD models provide flexible controllability, free CAD libraries often lack the high-quality…