相关论文: MCRL4OR: Multimodal Contrastive Representation Lea…

This paper investigates robust representation learning in offline goal-conditioned reinforcement learning (GCRL). Particularly in sparse reward scenarios, learning representations that align state and goal latents is a challenge that…

Accurately predicting the future trajectories of traffic agents is essential in autonomous driving. However, due to the inherent imbalance in trajectory distributions, tail data in natural datasets often represents more complex and…

Off-road environments remain significant challenges for autonomous ground vehicles, due to the lack of structured roads and the presence of complex obstacles, such as uneven terrain, vegetation, and occlusions. Traditional perception…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

Vision-language representation learning largely benefits from image-text alignment through contrastive losses (e.g., InfoNCE loss). The success of this alignment strategy is attributed to its capability in maximizing the mutual information…

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

Explainability and transparent decision-making are essential for the safe deployment of autonomous driving systems. Scene captioning summarizes environmental conditions and risk factors in natural language, improving transparency, safety,…

Learning robust and scalable visual representations from massive multi-view video data remains a challenge in computer vision and autonomous driving. Existing pre-training methods either rely on expensive supervised learning with 3D…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

The DEtection TRansformer (DETR) opened new possibilities for object detection by modeling it as a translation task: converting image features into object-level representations. Previous works typically add expensive modules to DETR to…

Quadrupedal locomotion via Reinforcement Learning (RL) is commonly addressed using the teacher-student paradigm, where a privileged teacher guides a proprioceptive student policy. However, key challenges such as representation misalignment…

Contrastive instance discrimination methods outperform supervised learning in downstream tasks such as image classification and object detection. However, these methods rely heavily on data augmentation during representation learning, which…

Accurately reconstructing road surfaces is pivotal for various applications especially in autonomous driving. This paper introduces a position encoding Multi-Layer Perceptrons (MLPs) framework to reconstruct road surfaces, with input as…

Offline reinforcement learning (RL) provides a promising approach to avoid costly online interaction with the real environment. However, the performance of offline RL highly depends on the quality of the datasets, which may cause…

Large-scale pre-trained Vision-Language Models (VLMs) have become essential for transfer learning across diverse tasks. However, adapting these models with limited few-shot data often leads to overfitting, diminishing their performance on…

High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interactions. While dynamics models used in model-based control can…

One of the most critical aspects of multimodal Reinforcement Learning (RL) is the effective integration of different observation modalities. Having robust and accurate representations derived from these modalities is key to enhancing the…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…