相关论文: SmartPretrain: Model-Agnostic and Dataset-Agnostic…

Skeleton sequence representation learning has shown great advantages for action recognition due to its promising ability to model human joints and topology. However, the current methods usually require sufficient labeled data for training…

Videos are a rich source for self-supervised learning (SSL) of visual representations due to the presence of natural temporal transformations of objects. However, current methods typically randomly sample video clips for learning, which…

Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

This paper investigates the impact of sampling and pretraining using datasets with different image characteristics on the performance of self-supervised learning (SSL) models for object classification. To do this, we sample two apartment…

Accurate motion prediction of surrounding traffic participants is crucial for the safe and efficient operation of automated vehicles in dynamic environments. Marginal prediction models commonly forecast each agent's future trajectories…

Self-supervised learning (SSL) has emerged as a powerful paradigm for medical image representation learning, particularly in settings with limited labeled data. However, existing SSL methods often rely on complex architectures,…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

The prediction of road users' future motion is a critical task in supporting advanced driver-assistance systems (ADAS). It plays an even more crucial role for autonomous driving (AD) in enabling the planning and execution of safe driving…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Existing trajectory prediction methods exhibit significant performance degradation under distribution shifts during test time. Although test-time training techniques have been explored to enable adaptation, current approaches rely on an…

Prior plays an important role in providing the plausible constraint on human motion. Previous works design motion priors following a variety of paradigms under different circumstances, leading to the lack of versatility. In this paper, we…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Learning-based quadruped controllers achieve impressive agility but typically lack formal safety guarantees under model uncertainty, perception noise, and unstructured contact conditions. We introduce SafeMind, a differentiable stochastic…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…

Consensus amongst researchers and industry points to a lack of large, representative annotated datasets as the biggest obstacle to progress in the field of surgical data science. Advances in Self-Supervised Learning (SSL) represent a…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

Uncertainty of environments has long been a difficult characteristic to handle, when performing real-world robot tasks. This is because the uncertainty produces unexpected observations that cannot be covered by manual scripting. Learning…

We introduce the task of action-driven stochastic human motion prediction, which aims to predict multiple plausible future motions given a sequence of action labels and a short motion history. This differs from existing works, which predict…

In this paper, we focus on unsupervised representation learning for skeleton-based action recognition. Existing approaches usually learn action representations by sequential prediction but they suffer from the inability to fully learn…