相关论文: JointMotion: Joint Self-Supervision for Joint Moti…

Masked autoencoders (MAEs) have emerged recently as art self-supervised spatiotemporal representation learners. Inheriting from the image counterparts, however, existing video MAEs still focus largely on static appearance learning whilst…

Self-supervised prediction is a powerful mechanism to learn representations that capture the underlying structure of the data. Despite recent progress, the self-supervised video prediction task is still challenging. One of the critical…

Human motion prediction aims to forecast future human poses given a historical motion. Whether based on recurrent or feed-forward neural networks, existing learning based methods fail to model the observation that human motion tends to…

This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…

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…

Predicting the future motion of road participants is a critical task in autonomous driving. In this work, we address the challenge of low-quality generation of low-probability modes in multi-agent joint prediction. To tackle this issue, we…

The use of self-supervised pre-training has emerged as a promising approach to enhance the performance of many different visual tasks. In this context, recent approaches have employed the Masked Image Modeling paradigm, which pre-trains a…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

Human motion prediction aims at generating future frames of human motion based on an observed sequence of skeletons. Recent methods employ the latest hidden states of a recurrent neural network (RNN) to encode the historical skeletons,…

This paper strives for motion-focused video-language representations. Existing methods to learn video-language representations use spatial-focused data, where identifying the objects and scene is often enough to distinguish the relevant…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Multimodal learning typically relies on the assumption that all modalities are fully available during both the training and inference phases. However, in real-world scenarios, consistently acquiring complete multimodal data presents…

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…

Motion forecasting plays a crucial role in autonomous driving, with the aim of predicting the future reasonable motions of traffic agents. Most existing methods mainly model the historical interactions between agents and the environment,…

A key challenge in self-supervised video representation learning is how to effectively capture motion information besides context bias. While most existing works implicitly achieve this with video-specific pretext tasks (e.g., predicting…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

One of the key challenges for autonomous vehicles is the ability to accurately predict the motion of other objects in the surrounding environment, such as pedestrians or other vehicles. In this contribution, a novel motion forecasting…

Trajectory representation learning plays a pivotal role in supporting various downstream tasks. Traditional methods in order to filter the noise in GPS trajectories tend to focus on routing-based methods used to simplify the trajectories.…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

Robust detection of moving vehicles is a critical task for any autonomously operating outdoor robot or self-driving vehicle. Most modern approaches for solving this task rely on training image-based detectors using large-scale vehicle…