相关论文: DINO Pre-training for Vision-based End-to-end Auto…

Recognizing the activities causing distraction in real-world driving scenarios is critical for ensuring the safety and reliability of both drivers and pedestrians on the roadways. Conventional computer vision techniques are typically…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

Autonomous driving involves complex tasks such as data fusion, object and lane detection, behavior prediction, and path planning. As opposed to the modular approach which dedicates individual subsystems to tackle each of those tasks, the…

Recent success of large-scale pre-trained language models crucially hinge on fine-tuning them on large amounts of labeled data for the downstream task, that are typically expensive to acquire. In this work, we study self-training as one of…

In autonomous driving, traditional Computer Vision (CV) agents often struggle in unfamiliar situations due to biases in the training data. Deep Reinforcement Learning (DRL) agents address this by learning from experience and maximizing…

End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated…

We present a training pipeline for the autonomous driving task given the current camera image and vehicle speed as the input to produce the throttle, brake, and steering control output. The simulator Airsim's convenient weather and lighting…

Self-supervised vision-and-language pretraining (VLP) aims to learn transferable multi-modal representations from large-scale image-text data and to achieve strong performances on a broad scope of vision-language tasks after finetuning.…

Inspired by recent advances in diffusion models, which are reminiscent of denoising autoencoders, we investigate whether they can acquire discriminative representations for classification via generative pre-training. This paper shows that…

Semi-supervised algorithms aim to learn prediction functions from a small set of labeled observations and a large set of unlabeled observations. Because this framework is relevant in many applications, they have received a lot of interest…

Visual language models (VLMs) rapidly progressed with the recent success of large language models. There have been growing efforts on visual instruction tuning to extend the LLM with visual inputs, but lacks an in-depth study of the visual…

This work addresses the unsupervised adaptation of an existing object detector to a new target domain. We assume that a large number of unlabeled videos from this domain are readily available. We automatically obtain labels on the target…

We present DINO-Tracker -- a new framework for long-term dense tracking in video. The pillar of our approach is combining test-time training on a single video, with the powerful localized semantic features learned by a pre-trained DINO-ViT…

Recent self-supervised learning (SSL) methods have shown impressive results in learning visual representations from unlabeled images. This paper aims to improve their performance further by utilizing the architectural advantages of the…

Dense Bird's Eye View (BEV) semantic maps are central to autonomous driving, yet current multi-camera methods depend on costly, inconsistently annotated BEV ground truth. We address this limitation with a two-phase training strategy for…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

Deep learning usually achieves the best results with complete supervision. In the case of semantic segmentation, this means that large amounts of pixelwise annotations are required to learn accurate models. In this paper, we show that we…

State-of-the-art computer vision models are mostly trained with supervised learning using human-labeled images, which limits their scalability due to the expensive annotation cost. While self-supervised representation learning has achieved…

In recent studies, self-supervised pre-trained models tend to outperform supervised pre-trained models in transfer learning. In particular, self-supervised learning (SSL) of utterance-level speech representation can be used in speech…

Effectively utilizing the vast amounts of ego-centric navigation data that is freely available on the internet can advance generalized intelligent systems, i.e., to robustly scale across perspectives, platforms, environmental conditions,…