相关论文: BEVGPT: Generative Pre-trained Large Model for Aut…

This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…

Accurate object detection and prediction are critical to ensure the safety and efficiency of self-driving architectures. Predicting object trajectories and occupancy enables autonomous vehicles to anticipate movements and make decisions…

Interpreting natural-language commands to localize target objects is critical for autonomous driving (AD). Existing visual grounding (VG) methods for autonomous vehicles (AVs) typically struggle with ambiguous, context-dependent…

Autonomous driving requires efficient reasoning about the Spatio-temporal nature of the semantics of the scene. Recent approaches have successfully amalgamated the traditional modular architecture of an autonomous driving stack comprising…

Vision-centric Bird's-Eye View (BEV) representation is essential for autonomous driving systems (ADS). Multi-frame temporal fusion which leverages historical information has been demonstrated to provide more comprehensive perception…

Witnessing the impressive achievements of pre-training techniques on large-scale data in the field of computer vision and natural language processing, we wonder whether this idea could be adapted in a grab-and-go spirit, and mitigate the…

Traditionally, prediction and planning in autonomous driving (AD) have been treated as separate, sequential modules. Recently, there has been a growing shift towards tighter integration of these components, known as Integrated Prediction…

Generating a detailed near-field perceptual model of the environment is an important and challenging problem in both self-driving vehicles and autonomous mobile robotics. A Bird Eye View (BEV) map, providing a panoptic representation, is a…

This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

We explore the potential of large-scale generative video models for autonomous driving, introducing an open-source auto-regressive video model (VaViM) and its companion video-action model (VaVAM) to investigate how video pre-training…

Autonomous driving technology is poised to transform transportation systems. However, achieving safe and accurate multi-task decision-making in complex scenarios, such as unsignalized intersections, remains a challenge for autonomous…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

Deep learning has revolutionized autonomous driving by enabling vehicles to perceive and interpret their surroundings with remarkable accuracy. This progress is attributed to various deep learning models, including Mediated Perception,…

Being able to generate realistic trajectory options is at the core of increasing the degree of automation of road vehicles. While model-driven, rule-based, and classical learning-based methods are widely used to tackle these tasks at…

It is a long-term vision for Autonomous Driving (AD) community that the perception models can learn from a large-scale point cloud dataset, to obtain unified representations that can achieve promising results on different tasks or…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

Accurate and reliable spatial and motion information plays a pivotal role in autonomous driving systems. However, object-level perception models struggle with handling open scenario categories and lack precise intrinsic geometry. On the…

Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…