相关论文: LEGO-Motion: Learning-Enhanced Grids with Occupanc…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…

Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Accurate and reliable motion forecasting is essential for the safe deployment of autonomous vehicles (AVs), particularly in rare but safety-critical scenarios known as corner cases. Existing models often underperform in these situations due…

Vision and voice are two vital keys for agents' interaction and learning. In this paper, we present a novel indoor navigation model called Memory Vision-Voice Indoor Navigation (MVV-IN), which receives voice commands and analyzes multimodal…

3D occupancy infers fine-grained 3D geometry and semantics which is critical for autonomous driving. Most existing approaches carry high compute costs, requiring dense 3D feature volume and cross-attention to effectively aggregate…

We present LoTIS, a model for visual navigation that provides robot-agnostic image-space guidance by localizing a reference RGB trajectory in the robot's current view, without requiring camera calibration, poses, or robot-specific training.…

Birds-eye-view (BEV) semantic segmentation is critical for autonomous driving for its powerful spatial representation ability. It is challenging to estimate the BEV semantic maps from monocular images due to the spatial gap, since it is…

Vision-language navigation (VLN), which entails an agent to navigate 3D environments following human instructions, has shown great advances. However, current agents are built upon panoramic observations, which hinders their ability to…

Active perception, the ability of a robot to proactively adjust its viewpoint to acquire task-relevant information, is essential for robust operation in unstructured real-world environments. While critical for downstream tasks such as…

Open-world 3D semantic occupancy prediction aims to generate a voxelized 3D representation from sensor inputs while recognizing both known and unknown objects. Transferring open-vocabulary knowledge from vision-language models (VLMs) offers…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

Object concepts play a foundational role in human visual cognition, enabling perception, memory, and interaction in the physical world. Inspired by findings in developmental neuroscience - where infants are shown to acquire object…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…

Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely reactive planning in crowded scenes. Maps of Dynamics (MoDs)…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Autonomous driving requires an accurate representation of the environment. A strategy toward high accuracy is to fuse data from several sensors. Learned Bird's-Eye View (BEV) encoders can achieve this by mapping data from individual sensors…

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…