相关论文: X-Drive: Cross-modality consistent multi-sensor da…

Recent advances in autonomous system simulation platforms have significantly enhanced the safe and scalable testing of driving policies. However, existing simulators do not yet fully meet the needs of future transportation…

Scalable and reliable evaluation is increasingly critical in the end-to-end era of autonomous driving, where vision--language--action (VLA) policies directly map raw sensor streams to driving actions. Yet, current evaluation pipelines still…

The field of 4D point cloud understanding is rapidly developing with the goal of analyzing dynamic 3D point cloud sequences. However, it remains a challenging task due to the sparsity and lack of texture in point clouds. Moreover, the…

Existing multi-modal image fusion methods fail to address the compound degradations presented in source images, resulting in fusion images plagued by noise, color bias, improper exposure, \textit{etc}. Additionally, these methods often…

This paper proposes a unified diffusion framework (dubbed UniDiffuser) to fit all distributions relevant to a set of multi-modal data in one model. Our key insight is -- learning diffusion models for marginal, conditional, and joint…

LiDAR-based semantic segmentation is a key component for autonomous mobile robots, yet large-scale annotation of LiDAR point clouds is prohibitively expensive and time-consuming. Although simulators can provide labeled synthetic data,…

Diffusion-based foundation models have recently garnered much attention in the field of generative modeling due to their ability to generate images of high quality and fidelity. Although not straightforward, their recent application to the…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

With the rapid development of diffusion models in image generation, the demand for more powerful and flexible controllable frameworks is increasing. Although existing methods can guide generation beyond text prompts, the challenge of…

We introduce a diffusion-based cross-domain image translator in the absence of paired training data. Unlike GAN-based methods, our approach integrates diffusion models to learn the image translation process, allowing for more coverable…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

A unified diffusion framework for multi-modal generation and understanding has the transformative potential to achieve seamless and controllable image diffusion and other cross-modal tasks. In this paper, we introduce MMGen, a unified…

Text-driven person image generation is an emerging and challenging task in cross-modality image generation. Controllable person image generation promotes a wide range of applications such as digital human interaction and virtual try-on.…

Existing methods of cross-modal domain adaptation for 3D semantic segmentation predict results only via 2D-3D complementarity that is obtained by cross-modal feature matching. However, as lacking supervision in the target domain, the…

Recent advances in diffusion models have driven remarkable progress in image generation. However, the generation process remains computationally intensive, and users often need to iteratively refine prompts to achieve the desired results,…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

In this paper, we present a novel diffusion model called that generates multiview-consistent images from a single-view image. Using pretrained large-scale 2D diffusion models, recent work Zero123 demonstrates the ability to generate…

We propose X-NeMo, a novel zero-shot diffusion-based portrait animation pipeline that animates a static portrait using facial movements from a driving video of a different individual. Our work first identifies the root causes of the key…

Achieving machine autonomy and human control often represent divergent objectives in the design of interactive AI systems. Visual generative foundation models such as Stable Diffusion show promise in navigating these goals, especially when…