相关论文: Holistic Semantic Representation for Navigational …

Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object without task-specific training. Prior hierarchical training-free solutions invest in scene understanding (\textit{belief}) and…

The trajectory patterns of a moving object in a spatio-temporal domain offers varied information in terms of the management of the data generated from the movement. A trajectory data warehouse is a data repository for the data and…

Effective urban traffic management is vital for sustainable city development, relying on intelligent systems with machine learning tasks such as traffic flow prediction and travel time estimation. Traditional approaches usually focus on…

Reading irregular scene text of arbitrary shape in natural images is still a challenging problem, despite the progress made recently. Many existing approaches incorporate sophisticated network structures to handle various shapes, use extra…

Encoding a driving scene into vector representations has been an essential task for autonomous driving that can benefit downstream tasks e.g. trajectory prediction. The driving scene often involves heterogeneous elements such as the…

While the field of co-speech gesture generation has seen significant advances, producing holistic, semantically grounded gestures remains a challenge. Existing approaches rely on external semantic retrieval methods, which limit their…

Generative retrieval has recently emerged as a promising approach to sequential recommendation, framing candidate item retrieval as an autoregressive sequence generation problem. However, existing generative methods typically focus solely…

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…

Naturally controllable human-scene interaction (HSI) generation has an important role in various fields, such as VR/AR content creation and human-centered AI. However, existing methods are unnatural and unintuitive in their controllability,…

This paper presents a novel framework for automatic speech-driven gesture generation, applicable to human-agent interaction including both virtual agents and robots. Specifically, we extend recent deep-learning-based, data-driven methods…

Recent years have witnessed a rapid growth of applying deep spatiotemporal methods in traffic forecasting. However, the prediction of origin-destination (OD) demands is still a challenging problem since the number of OD pairs is usually…

Scene graph generation aims to produce structured representations for images, which requires to understand the relations between objects. Due to the continuous nature of deep neural networks, the prediction of scene graphs is divided into…

Human trajectory data is crucial in urban planning, traffic engineering, and public health. However, directly using real-world trajectory data often faces challenges such as privacy concerns, data acquisition costs, and data quality. A…

Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…

Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture temporal dynamics and physical laws. We propose NavDreamer,…

Visual generative models based on latent space have achieved great success, underscoring the significance of visual tokenization. Mapping images to latents boosts efficiency and enables multimodal alignment for scaling up in downstream…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

In this work, we address the problem of computation time for trajectory generation in quadrotors. Most trajectory generation methods for waypoint navigation of quadrotors, for example minimum snap/jerk and minimum-time, are structured as…

In recent years, diffusion models have demonstrated remarkable potential across diverse domains, from vision generation to language modeling. Transferring its generative capabilities to modern end-to-end autonomous driving systems has also…

Trajectory modeling refers to characterizing human movement behavior, serving as a pivotal step in understanding mobility patterns. Nevertheless, existing studies typically ignore the confounding effects of geospatial context, leading to…