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

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

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

The goal of this paper is to self-train a 3D convolutional neural network on an unlabeled video collection for deployment on small-scale video collections. As smaller video datasets benefit more from motion than appearance, we strive to…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

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.…

Pre-training has shown success in different areas of machine learning, such as Computer Vision, Natural Language Processing (NLP), and medical imaging. However, it has not been fully explored for clinical data analysis. An immense amount of…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

Human perception and understanding is a major domain of computer vision which, like many other vision subdomains recently, stands to gain from the use of large models pre-trained on large datasets. We hypothesize that the most common…

In vision-and-language navigation (VLN), an embodied agent is required to navigate in realistic 3D environments following natural language instructions. One major bottleneck for existing VLN approaches is the lack of sufficient training…

Autonomous driving relies on a huge volume of real-world data to be labeled to high precision. Alternative solutions seek to exploit driving simulators that can generate large amounts of labeled data with a plethora of content variations.…

Robots need robust and flexible vision systems 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…

The goal of semi-supervised learning is to utilize the unlabeled, in-domain dataset U to improve models trained on the labeled dataset D. Under the context of large-scale language-model (LM) pretraining, how we can make the best use of U is…

The success of deep neural networks generally requires a vast amount of training data to be labeled, which is expensive and unfeasible in scale, especially for video collections. To alleviate this problem, in this paper, we propose…

In the context of autonomous driving, the significance of effective feature learning is widely acknowledged. While conventional 3D self-supervised pre-training methods have shown widespread success, most methods follow the ideas originally…

Human state detection and behavior prediction have seen significant advancements with the rise of machine learning and multimodal sensing technologies. However, predicting prosocial behavior intentions in mobility scenarios, such as helping…

The labels of monocular 3D object detection (M3OD) are expensive to obtain. Meanwhile, there usually exists numerous unlabeled data in practical applications, and pre-training is an efficient way of exploiting the knowledge in unlabeled…

We investigate the utility of pretraining by contrastive self supervised learning on both natural-scene and medical imaging datasets when the unlabeled dataset size is small, or when the diversity within the unlabeled set does not lead to…

Self-training is an important technique for solving semi-supervised learning problems. It leverages unlabeled data by generating pseudo-labels and combining them with a limited labeled dataset for training. The effectiveness of…

Holistically understanding an object and its 3D movable parts through visual perception models is essential for enabling an autonomous agent to interact with the world. For autonomous driving, the dynamics and states of vehicle parts such…

Annotated 3D scene data is scarce and expensive to acquire, while abundant unlabeled videos are readily available on the internet. In this paper, we demonstrate that carefully designed data engines can leverage web-curated, unlabeled videos…