相关论文: HMPE:HeatMap Embedding for Efficient Transformer-B…

Embedding methods transform the knowledge graph into a continuous, low-dimensional space, facilitating inference and completion tasks. Existing methods are mainly divided into two types: translational distance models and semantic matching…

We introduce Perception Encoder (PE), a state-of-the-art vision encoder for image and video understanding trained via simple vision-language learning. Traditionally, vision encoders have relied on a variety of pretraining objectives, each…

Reconstruction of high-definition maps is a crucial task in perceiving the autonomous driving environment, as its accuracy directly impacts the reliability of prediction and planning capabilities in downstream modules. Current vectorized…

We present HARP, a novel method for learning low dimensional embeddings of a graph's nodes which preserves higher-order structural features. Our proposed method achieves this by compressing the input graph prior to embedding it, effectively…

Fully Homomorphic Encryption (FHE) allows for computation directly on encrypted data and enables privacy-preserving neural inference in the cloud. Prior work has focused on models with dense inputs (e.g., CNNs), with less attention given to…

Online mapping and end-to-end (E2E) planning in autonomous driving remain largely sensor-centric, leaving rich map priors, including HD/SD vector maps, rasterized SD maps, and satellite imagery, underused because of heterogeneity, pose…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

Heatmap-based methods have become the mainstream method for pose estimation due to their superior performance. However, heatmap-based approaches suffer from significant quantization errors with downscale heatmaps, which result in limited…

Deep learning inference that needs to largely take place on the 'edge' is a highly computational and memory intensive workload, making it intractable for low-power, embedded platforms such as mobile nodes and remote security applications.…

Multi-Layer Perceptron (MLP) models are the foundation of contemporary point cloud processing. However, their complex network architectures obscure the source of their strength and limit the application of these models. In this article, we…

Without positional information, attention-based Transformer neural networks are permutation-invariant. Absolute or relative positional embeddings are the most popular ways to feed Transformer models with positional information. Absolute…

Unsupervised learning of vision transformers seeks to pretrain an encoder via pretext tasks without labels. Among them is the Masked Image Modeling (MIM) aligned with pretraining of language transformers by predicting masked patches as a…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

Multi-scale features have been proven highly effective for object detection but often come with huge and even prohibitive extra computation costs, especially for the recent Transformer-based detectors. In this paper, we propose Iterative…

The field of computer vision has experienced significant advancements through scalable vision encoders and multimodal pre-training frameworks. However, existing approaches often treat vision encoders and large language models (LLMs) as…

Modern object detectors have taken the advantages of backbone networks pre-trained on large scale datasets. Except for the backbone networks, however, other components such as the detector head and the feature pyramid network (FPN) remain…

General perception systems such as Perceivers can process arbitrary modalities in any combination and are able to handle up to a few hundred thousand inputs. They achieve this generality by using exclusively global attention operations.…

Object localization is an important computer vision problem with a variety of applications. The lack of large scale object-level annotations and the relative abundance of image-level labels makes a compelling case for weak supervision in…

Multi-scale detection plays an important role in object detection models. However, researchers usually feel blank on how to reasonably configure detection heads combining multi-scale features at different input resolutions. We find that…

Deep learning is a kind of feature learning method with strong nonliear feature transformation and becomes more and more important in many fields of artificial intelligence. Deep autoencoder is one representative method of the deep learning…