相关论文: Scalable and Efficient Hierarchical Visual Topolog…

Accurately estimating traffic variables across unequipped portions of a network remains a significant challenge due to the limited coverage of sensor-equipped links, such as loop detectors and probe vehicles. A common approach is to apply…

Improving the scalability of GNNs is critical for large graphs. Existing methods leverage three sampling paradigms including node-wise, layer-wise and subgraph sampling, then design unbiased estimator for scalability. However, the high…

Latent variable models like the Variational Auto-Encoder (VAE) are commonly used to learn representations of images. However, for downstream tasks like semantic classification, the representations learned by VAE are less competitive than…

In this paper, we propose an algorithm that can be used on top of a wide variety of self-supervised (SSL) approaches to take advantage of hierarchical structures that emerge during training. SSL approaches typically work through some…

We present a method for learning multiple scene representations given a small labeled set, by exploiting the relationships between such representations in the form of a multi-task hypergraph. We also show how we can use the hypergraph to…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and…

We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…

Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…

We propose a novel end-to-end pipeline for online long-range vectorized high-definition (HD) map construction using on-board camera sensors. The vectorized representation of HD maps, employing polylines and polygons to represent map…

Graph-based Retrieval-Augmented Generation (GraphRAG) frameworks face a trade-off between the comprehensiveness of global search and the efficiency of local search. Existing methods are often challenged by navigating large-scale…

Vector quantization (VQ) is a technique to deterministically learn features with discrete codebook representations. It is commonly performed with a variational autoencoding model, VQ-VAE, which can be further extended to hierarchical…

Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various…

Topological correctness plays a critical role in many image segmentation tasks, yet most networks are trained using pixel-wise loss functions, such as Dice, neglecting topological accuracy. Existing topology-aware methods often lack robust…

The integration of GNSS data into portable devices has led to the generation of vast amounts of trajectory data, which is crucial for applications such as map-matching. To tackle the limitations of rule-based methods, recent works in deep…

An important part of many machine learning workflows on graphs is vertex representation learning, i.e., learning a low-dimensional vector representation for each vertex in the graph. Recently, several powerful techniques for unsupervised…

Recommender systems are indispensable for helping users navigate the immense item catalogs of modern online platforms. Recently, generative recommendation has emerged as a promising paradigm, unifying the conventional retrieve-and-rank…

Limited by the locality of convolutional neural networks, most existing local features description methods only learn local descriptors with local information and lack awareness of global and surrounding spatial context. In this work, we…

Crowdsourcing enables scalable autonomous driving map construction, but low-cost sensor noise hinders quality from improving with data volume. We propose CSMapping, a system that produces accurate semantic maps and topological road…

Topological Data Analysis (TDA) provides tools to describe the shape of data, but integrating topological features into deep learning pipelines remains challenging, especially when preserving local geometric structure rather than…