相关论文: Navigation-Guided Sparse Scene Representation for …

Sparse Autoencoders (SAEs) are widely employed for mechanistic interpretability and model steering. Within this context, steering is by design performed by means of decoding altered SAE intermediate representations. This procedure…

In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low…

Steering has emerged as a promising approach in controlling large language models (LLMs) without modifying model parameters. However, most existing steering methods rely on large-scale datasets to learn clear behavioral information, which…

Conventional end-to-end autonomous driving methods often rely on explicit global scene representations, which typically consist of 3D object detection, online mapping, and motion prediction. In contrast, human drivers selectively attend to…

Effective environment modeling is the foundation for autonomous driving, underpinning tasks from perception to planning. However, current paradigms often inadequately consider the feedback of ego motion to the observation, which leads to an…

We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Scene flow enables an understanding of the motion characteristics of the environment in the 3D world. It gains particular significance in the long-range, where object-based perception methods might fail due to sparse observations far away.…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…

Focusing on the development of an end-to-end autonomous vehicle model with pixel-to-pixel context awareness, this research proposes the SKGE-Swin architecture. This architecture utilizes the Swin Transformer with a skip-stage mechanism to…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…

Scene categorization is a useful precursor task that provides prior knowledge for many advanced computer vision tasks with a broad range of applications in content-based image indexing and retrieval systems. Despite the success of data…

Accurate recognition of Emergency Vehicle (EV) sirens is critical for the integration of intelligent transportation systems, smart city monitoring systems, and autonomous driving technologies. Modern automatic solutions are limited by the…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

Large language models (LLMs) have demonstrated impressive capabilities in natural language understanding and generation, but controlling their behavior reliably remains challenging, especially in open-ended generation settings. This paper…

Recent advances show that semi-supervised implicit representation learning can be achieved through physical constraints like Eikonal equations. However, this scheme has not yet been successfully used for LiDAR point cloud data, due to its…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…