相关论文: Self-Supervised Pre-training with Combined Dataset…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Deep learning perception models require a massive amount of labeled training data to achieve good performance. While unlabeled data is easy to acquire, the cost of labeling is prohibitive and could create a tremendous burden on companies or…

Deep neural networks are typically trained under a supervised learning framework where a model learns a single task using labeled data. Instead of relying solely on labeled data, practitioners can harness unlabeled or related data to…

For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR…

Language model pre-training has proven to be useful in many language understanding tasks. In this paper, we investigate whether it is still helpful to add the self-training method in the pre-training step and the fine-tuning step. Towards…

The perception of autonomous vehicles using radars has attracted increased research interest due its ability to operate in fog and bad weather. However, training radar models is hindered by the cost and difficulty of annotating large-scale…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

Self-supervised pre-training using unlabeled data is widely used in automatic speech recognition. In this paper, we propose a new self-supervised pre-training approach to dealing with heterogeneous data. Instead of mixing all the data and…

Self-supervised learning has emerged as a powerful approach for leveraging large-scale unlabeled data to improve model performance in various domains. In this paper, we explore masked self-supervised pre-training for text recognition…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Effectively utilizing the vast amounts of ego-centric navigation data that is freely available on the internet can advance generalized intelligent systems, i.e., to robustly scale across perspectives, platforms, environmental conditions,…

Training neural networks to perform 3D object detection for autonomous driving requires a large amount of diverse annotated data. However, obtaining training data with sufficient quality and quantity is expensive and sometimes impossible…

In this paper, we investigate self-supervised pre-training methods for document text recognition. Nowadays, large unlabeled datasets can be collected for many research tasks, including text recognition, but it is costly to annotate them.…

Self-supervised pretraining has been observed to be effective at improving feature representations for transfer learning, leveraging large amounts of unlabelled data. This review summarizes recent research into its usage in X-ray, computed…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is especially important for semantic segmentation tasks involving 3D datasets that are often significantly…

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…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…