相关论文: Towards foundational LiDAR world models with effic…

Flow matching models have shown great potential in image generation tasks among probabilistic generative models. However, most flow matching models in the literature do not explicitly utilize the underlying clustering structure in the…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

This paper extends LiDAR-BIND, a modular multi-modal fusion framework that binds heterogeneous sensors (radar, sonar) to a LiDAR-defined latent space, with mechanisms that explicitly enforce temporal consistency. We introduce three…

Vision-language models pre-trained at large scale have shown unprecedented adaptability and generalization to downstream tasks. Although its discriminative potential has been widely explored, its reliability and uncertainty are still…

This study proposes a universal flow field prediction framework based on knowledge transfer from large language model (LLM), addressing the high computational costs of traditional computational fluid dynamics (CFD) methods and the limited…

Multi-task dense prediction, which aims to jointly solve tasks like semantic segmentation and depth estimation, is crucial for robotics applications but suffers from domain shift when deploying models in new environments. While unsupervised…

While multi-modal 3D semantic occupancy prediction typically enhances robustness by fusing camera and LiDAR inputs, its effectiveness is fundamentally constrained by environmental variability. Specifically, camera sensors suffer from severe…

LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed…

Semantic segmentation networks trained under full supervision for one type of lidar fail to generalize to unseen lidars without intervention. To reduce the performance gap under domain shifts, a recent trend is to leverage vision foundation…

Conditional Flow Matching (CFM), a simulation-free method for training continuous normalizing flows, provides an efficient alternative to diffusion models for key tasks like image and video generation. The performance of CFM in solving…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

Anticipating the future in a dynamic scene is critical for many fields such as autonomous driving and robotics. In this paper we propose a class of novel neural network architectures to predict future LiDAR frames given previous ones. Since…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

Generating high-quality time-series data is challenging because real-world signals often exhibit multimodal patterns and multiscale dynamics, including oscillations and high-frequency variations. Flow Matching (FM) offers an efficient…

Existing models that achieve state-of-the-art (SOTA) performance on both clean and adversarially-perturbed images rely on convolution operations conditioned with feature-wise linear modulation (FiLM) layers. These layers require many new…

Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…