相关论文: COME: Adding Scene-Centric Forecasting Control to …

We introduce a Deep Stochastic IOC RNN Encoderdecoder framework, DESIRE, for the task of future predictions of multiple interacting agents in dynamic scenes. DESIRE effectively predicts future locations of objects in multiple scenes by 1)…

Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and complex environments. Diffusion models, known for their…

Accurate trajectory prediction is fundamentally challenging due to high scene heterogeneity - the severe variance in motion velocity, spatial density, and interaction patterns across different real-world environments. However, most existing…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

End-to-end motion planning is promising for simplifying complex autonomous driving pipelines. However, challenges such as scene understanding and effective prediction for decision-making continue to present substantial obstacles to its…

Human affordance learning investigates contextually relevant novel pose prediction such that the estimated pose represents a valid human action within the scene. While the task is fundamental to machine perception and automated interactive…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

Motion forecasting is crucial in enabling autonomous vehicles to anticipate the future trajectories of surrounding agents. To do so, it requires solving mapping, detection, tracking, and then forecasting problems, in a multi-step pipeline.…

The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

Physics-aware driving world model is essential for drive planning, out-of-distribution data synthesis, and closed-loop evaluation. However, existing methods often rely on a single diffusion model to directly map driving actions to videos,…

What if a video generation model could not only imagine a plausible future, but the correct one, accurately reflecting how the world changes with each action? We address this question by presenting the Egocentric World Model (EgoWM), a…

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…

In perception tasks of automated vehicles (AVs) data-driven have often outperformed conventional approaches. This motivated us to develop a data-driven methodology to compute occupancy grid maps (OGMs) from lidar measurements. Our approach…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…