相关论文: Towards foundational LiDAR world models with effic…
Foundation models have attracted widespread attention across domains due to their powerful zero-shot classification capabilities. This work is motivated by two key observations: (1) \textit{Vision-Language Models} (VLMs), such as CLIP,…
In this work, we present a simple yet effective framework to address the domain translation problem between different sensor modalities with unique data formats. By relying only on the semantics of the scene, our modular generative…
Forecasting conditional stochastic nonlinear dynamical systems is a fundamental challenge repeatedly encountered across the biological and physical sciences. While flow-based models can impressively predict the temporal evolution of…
Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…
Large Language Models (LLMs) have demonstrated powerful reasoning capabilities through Chain-of-Thought (CoT) in various tasks, yet the inefficiency of token-by-token generation hinders real-world deployment in latency-sensitive recommender…
Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…
Scene flow, which provides the 3D motion field of the first frame from two consecutive point clouds, is vital for dynamic scene perception. However, contemporary scene flow methods face three major challenges. Firstly, they lack global flow…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
In this paper we address the challenging problem of domain adaptation in LiDAR semantic segmentation. We consider the setting where we have a fully-labeled data set from source domain and a target domain with a few labeled and many…
We present a novel 3D shape completion framework that unifies multimodal conditioning, leveraging both 2D images and 3D partial scans through a latent diffusion model. Shapes are represented as Truncated Signed Distance Functions (TSDFs)…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
Large time series models (LTMs) have emerged as powerful tools for universal forecasting, yet they often struggle with the inherent diversity and nonstationarity of real-world time series data, leading to an unsatisfactory trade-off between…
Continuous normalizing flows (CNFs) are an attractive generative modeling technique, but they have been held back by limitations in their simulation-based maximum likelihood training. We introduce the generalized conditional flow matching…
Pre-trained vision-language models provide a robust foundation for efficient transfer learning across various downstream tasks. In the field of video action recognition, mainstream approaches often introduce additional modules to capture…
Semantic communication can significantly improve bandwidth utilization in wireless systems by exploiting the meaning behind raw data. However, the advancements achieved through semantic communication are closely dependent on the development…
This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…
This work presents a new depth- and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation in a multi-modal setup between LiDAR and camera sensors. The proposed model leverages scene…
Dynamic representation learning plays a pivotal role in understanding the evolution of linguistic content over time. On this front both context and time dynamics as well as their interplay are of prime importance. Current approaches model…
LiDAR representation learning aims to extract rich structural and semantic information from large-scale, readily available datasets, reducing reliance on costly human annotations. However, existing LiDAR representation strategies often…
Structured data is widely used in domains such as healthcare, finance, and scientific data management. Recent studies on structured data foundation models (SFMs) aim to support data analysis and mining tasks over such data, but still face…