相关论文: Real-Time Motion Prediction via Heterogeneous Poly…

There are several improvements proposed over the baseline Absolute Positional Encoding (APE) method used in original transformer. In this study, we aim to investigate the implications of inadequately representing positional encoding in…

This paper investigates the dynamical properties of tokens in pre-trained Transformer models and explores their application to improving Transformers. To this end, we analyze the dynamical system governing the continuous-time limit of the…

Predicting the future motion of actors in a traffic scene is a crucial part of any autonomous driving system. Recent research in this area has focused on trajectory prediction approaches that optimize standard trajectory error metrics. In…

Predicting motion of surrounding agents is critical to real-world applications of tactical path planning for autonomous driving. Due to the complex temporal dependencies and social interactions of agents, on-line trajectory prediction is a…

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene…

This paper studies the traffic state estimation (TSE) problem using sparse observations from mobile sensors. Most existing TSE methods either rely on well-defined physical traffic flow models or require large amounts of simulation data as…

Relative positional encoding is widely used in vanilla and linear transformers to represent positional information. However, existing encoding methods of a vanilla transformer are not always directly applicable to a linear transformer,…

Egocentric pose estimation is a fundamental capability for multi-robot collaborative perception in connected autonomy, such as connected autonomous vehicles. During multi-robot operations, a robot needs to know the relative pose between…

We present a High-Resolution Transformer (HRFormer) that learns high-resolution representations for dense prediction tasks, in contrast to the original Vision Transformer that produces low-resolution representations and has high memory and…

Handwritten Text Recognition (HTR) is a task of central importance in the field of document image understanding. State-of-the-art methods for HTR require the use of extensive annotated sets for training, making them impractical for…

Recent advances in Transformer models allow for unprecedented sequence lengths, due to linear space and time complexity. In the meantime, relative positional encoding (RPE) was proposed as beneficial for classical Transformers and consists…

The task of motion forecasting is critical for self-driving vehicles (SDVs) to be able to plan a safe maneuver. Towards this goal, modern approaches reason about the map, the agents' past trajectories and their interactions in order to…

In the field of computer vision, 6D object detection and pose estimation are critical for applications such as robotics, augmented reality, and autonomous driving. Traditional methods often struggle with achieving high accuracy in both…

We present RopeTP, a novel framework that combines Robust pose estimation with a diffusion Trajectory Prior to reconstruct global human motion from videos. At the heart of RopeTP is a hierarchical attention mechanism that significantly…

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…

Existing 2D-to-3D human pose estimation (HPE) methods struggle with the occlusion issue by enriching information like temporal and visual cues in the lifting stage. In this paper, we argue that these methods ignore the limitation of the…

Transformers rely on explicit positional encoding to model structure in data. While Rotary Position Embedding (RoPE) excels in 1D domains, its application to image generation reveals significant limitations such as fine-grained spatial…

In pose estimation for seen objects, a prevalent pipeline involves using neural networks to predict dense 3D coordinates of the object surface on 2D images, which are then used to establish dense 2D-3D correspondences. However, current…