相关论文: MoST: Multi-modality Scene Tokenization for Motion…

Recent works in video prediction have mainly focused on passive forecasting and low-level action-conditional prediction, which sidesteps the learning of interaction between agents and objects. We introduce the task of semantic…

In this paper, we tackle the problem of scene-aware 3D human motion forecasting. A key challenge of this task is to predict future human motions that are consistent with the scene by modeling the human-scene interactions. While recent works…

Moving object segmentation (MOS) provides a reliable solution for detecting traffic participants and thus is of great interest in the autonomous driving field. Dynamic capture is always critical in the MOS problem. Previous methods capture…

Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…

This paper addresses the problem of change detection from a novel perspective of long-term map learning. We are particularly interested in designing an approach that can scale to large maps and that can function under global uncertainty in…

Predicting future motion trajectories is a critical capability across domains such as robotics, autonomous systems, and human activity forecasting, enabling safer and more intelligent decision-making. This paper proposes a novel, efficient,…

Modeling and rendering of dynamic scenes is challenging, as natural scenes often contain complex phenomena such as thin structures, evolving topology, translucency, scattering, occlusion, and biological motion. Mesh-based reconstruction and…

Inspired by the strong ties between vision and language, the two intimate human sensing and communication modalities, our paper aims to explore the generation of 3D human full-body motions from texts, as well as its reciprocal task,…

Multi-modal retrieval becomes increasingly popular in practice. However, the existing retrievers are mostly text-oriented, which lack the capability to process visual information. Despite the presence of vision-language models like CLIP,…

Scene graph prediction --- classifying the set of objects and predicates in a visual scene --- requires substantial training data. However, most predicates only occur a handful of times making them difficult to learn. We introduce the first…

Besides local features, global information plays an essential role in semantic segmentation, while recent works usually fail to explicitly extract the meaningful global information and make full use of it. In this paper, we propose a…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and deformable terrains. It would be of great benefit for robots to…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…

Knowledge about the location of a vehicle is indispensable for autonomous driving. In order to apply global localisation methods, a pose prior must be known which can be obtained from visual odometry. The quality and robustness of that…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers…

Video Multimodal Large Language Models (MLLMs) have shown remarkable capability of understanding the video semantics on various downstream tasks. Despite the advancements, there is still a lack of systematic research on visual context…