相关论文: Scene-Adaptive Motion Planning with Explicit Mixtu…

End-to-end autonomous driving planners typically generate trajectories from current observations alone. However, real-world driving is highly dynamic, and such reactive planning cannot anticipate future scene evolution, often leading to…

Recent advancements in general-purpose or domain-specific multimodal large language models (LLMs) have witnessed remarkable progress for medical decision-making. However, they are designated for specific classification or generative tasks,…

Mixture-of-Experts (MoE) models achieve efficient scaling through sparse expert activation, but often suffer from suboptimal routing decisions due to distribution shifts in deployment. While existing test-time adaptation methods could…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Language model (LM)-based embodied agents are increasingly deployed in real-world settings. Yet, their adaptability remains limited in dynamic environments, where constructing accurate and flexible world models is crucial for effective…

Motion planning for merging scenarios accounting for measurement and prediction uncertainties is a major challenge on the way to autonomous driving. Classical methods subdivide the motion planning into behavior and trajectory planning, thus…

This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…

Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…

Mixture-of-Experts (MoE) has become a dominant architecture for scaling large language models (LLMs). However, the execution characteristics of MoE inference are changing rapidly and increasingly mismatch the assumptions underlying existing…

Neural operators have emerged as an efficient paradigm for solving PDEs, overcoming the limitations of traditional numerical methods and significantly improving computational efficiency. However, due to the diversity and complexity of PDE…

Unmanned aerial vehicles serving as aerial base stations can rapidly restore connectivity after disasters, yet abrupt changes in user mobility and traffic demands shift the quality of service trade-offs and induce strong non-stationarity.…

Recently, learning-based stereo matching networks have advanced significantly. However, they often lack robustness and struggle to achieve impressive cross-domain performance due to domain shifts and imbalanced disparity distributions among…

Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…

Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…

The sparsely activated mixture of experts (MoE) model presents a promising alternative to traditional densely activated (dense) models, enhancing both quality and computational efficiency. However, training MoE models from scratch demands…

The Sparse Mixture of Experts (SMoE) has been widely employed to enhance the efficiency of training and inference for Transformer-based foundational models, yielding promising results.However, the performance of SMoE heavily depends on the…

While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…

Steered-Mixtures-of-Experts (SMoE) models provide sparse, edge-aware representations, applicable to many use-cases in image processing. This includes denoising, super-resolution and compression of 2D- and higher dimensional pixel data.…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…