相关论文: Efficient Multi-Camera Tokenization with Triplanes…

To address the challenges of sensor fusion and safety risk prediction, contemporary closed-loop autonomous driving neural networks leveraging imitation learning typically require a substantial volume of parameters and computational…

This survey explores the adaptation of visual transformer models in Autonomous Driving, a transition inspired by their success in Natural Language Processing. Surpassing traditional Recurrent Neural Networks in tasks like sequential image…

Multisensory polices are known to enhance both state estimation and target tracking. However, in the space of end-to-end sensorimotor control, this multi-sensor outlook has received limited attention. Moreover, systematic ways to make…

Traffic congestion is a major challenge in modern urban settings. The industry-wide development of autonomous and automated vehicles (AVs) motivates the question of how can AVs contribute to congestion reduction. Past research has shown…

Absolute camera pose regressors estimate the position and orientation of a camera given the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron (MLP) head is trained using images and pose labels to embed…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

3D generation has witnessed significant advancements, yet efficiently producing high-quality 3D assets from a single image remains challenging. In this paper, we present a triplane autoencoder, which encodes 3D models into a compact…

Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…

In this paper, we introduce a novel visual representation learning which relies on a handful of adaptively learned tokens, and which is applicable to both image and video understanding tasks. Instead of relying on hand-designed splitting…

Transformers have become central to natural language processing and large language models, but their deployment at scale faces three major challenges. First, the attention mechanism requires massive matrix multiplications and frequent…

Vision Transformers (ViT) have achieved remarkable success in large-scale image recognition. They split every 2D image into a fixed number of patches, each of which is treated as a token. Generally, representing an image with more tokens…

Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to…

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end…

A surge of interest has emerged in utilizing Transformers in diverse vision tasks owing to its formidable performance. However, existing approaches primarily focus on optimizing internal model architecture designs that often entail…

In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…

Autoregressive sequence models, such as Transformer-based vision-language action (VLA) policies, can be tremendously effective for capturing complex and generalizable robotic behaviors. However, such models require us to choose a…

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers…

Image tokenization plays a critical role in reducing the computational demands of modeling high-resolution images, significantly improving the efficiency of image and multimodal understanding and generation. Recent advances in 1D latent…

Neural networks build the foundation of several intelligent systems, which, however, are known to be easily fooled by adversarial examples. Recent advances made these attacks possible even in air-gapped scenarios, where the autonomous…

3D lane detection and topology reasoning are essential tasks in autonomous driving scenarios, requiring not only detecting the accurate 3D coordinates on lane lines, but also reasoning the relationship between lanes and traffic elements.…