相关论文: Semi-Supervised Vision-Centric 3D Occupancy World …

Supervised learning in large discriminative models is a mainstay for modern computer vision. Such an approach necessitates investing in large-scale human-annotated datasets for achieving state-of-the-art results. In turn, the efficacy of…

Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment,…

3D occupancy prediction is crucial for robust autonomous driving systems as it enables comprehensive perception of environmental structures and semantics. Most existing methods employ dense voxel-based scene representations, ignoring the…

In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

We focus on the problem of predicting future states of entities in complex, real-world driving scenarios. Previous research has used low-level signals to predict short time horizons, and has not addressed how to leverage key assets relied…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

Closed-loop simulation is essential for advancing end-to-end autonomous driving systems. Contemporary sensor simulation methods, such as NeRF and 3DGS, rely predominantly on conditions closely aligned with training data distributions, which…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

Supervised approaches to 3D pose estimation from single images are remarkably effective when labeled data is abundant. However, as the acquisition of ground-truth 3D labels is labor intensive and time consuming, recent attention has shifted…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Driving World Models (DWMs) have become essential for autonomous driving by enabling future scene prediction. However, existing DWMs are limited to scene generation and fail to incorporate scene understanding, which involves interpreting…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

End-to-end (E2E) autonomous driving has recently attracted increasing interest in unifying Vision-Language-Action (VLA) with World Models to enhance decision-making and forward-looking imagination. However, existing methods fail to…

The rise of multi-modal large language models(MLLMs) has spurred their applications in autonomous driving. Recent MLLM-based methods perform action by learning a direct mapping from perception to action, neglecting the dynamics of the world…

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination…

Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Image-based 3D detection is an indispensable component of the perception system for autonomous driving. However, it still suffers from the unsatisfying performance, one of the main reasons for which is the limited training data.…