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

Foundation models have demonstrated remarkable performance across modalities such as language and vision. However, model reuse across distinct modalities (e.g., text and vision) remains limited due to the difficulty of aligning internal…

LiDAR semantic segmentation plays a pivotal role in 3D scene understanding for edge applications such as autonomous driving. However, significant challenges remain for real-world deployments, particularly for on-device post-deployment…

Time series foundation models (TSFMs) offer strong zero-shot forecasting via large-scale pre-training, yet fine-tuning remains critical for boosting performance in domains with limited public data. With the growing number of TSFMs,…

As acquiring pixel-wise annotations of real-world images for semantic segmentation is a costly process, a model can instead be trained with more accessible synthetic data and adapted to real images without requiring their annotations. This…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

Segmentation of lidar data is a task that provides rich, point-wise information about the environment of robots or autonomous vehicles. Currently best performing neural networks for lidar segmentation are fine-tuned to specific datasets.…

This work studies semantic segmentation using 3D LiDAR data. Popular deep learning methods applied for this task require a large number of manual annotations to train the parameters. We propose a new method that makes full use of the…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…

Large language models (LLMs) have achieved substantial advances in logical reasoning, yet they continue to lag behind human-level performance. In-context learning provides a viable solution that boosts the model's performance via prompting…

A World Model is a compressed spatial and temporal representation of a real world environment that allows one to train an agent or execute planning methods. However, world models are typically trained on observations from the real world…

Latent World Models enhance scene representation through temporal self-supervised learning, presenting a perception annotation-free paradigm for end-to-end autonomous driving. However, the reconstruction-oriented representation learning…

Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transitions. While most driving world models forecast the external environment, in-cabin intelligence remains strictly…

Recent advances in transformer-based Large Language Models (LLMs) have demonstrated remarkable capabilities across various tasks. However, their quadratic computational complexity concerning sequence length remains a significant bottleneck…

Learning models on one labeled dataset that generalize well on another domain is a difficult task, as several shifts might happen between the data domains. This is notably the case for lidar data, for which models can exhibit large…

Although Domain Adaptation in Semantic Scene Segmentation has shown impressive improvement in recent years, the fairness concerns in the domain adaptation have yet to be well defined and addressed. In addition, fairness is one of the most…

Despite the recent success of large language models (LLMs) in time-series forecasting, most existing methods still adopt a Deep Synchronous Fusion strategy, where dense interactions between textual and temporal features are enforced at…

State-of-the-art machine-learning-based models are a popular choice for modeling and forecasting energy behavior in buildings because given enough data, they are good at finding spatiotemporal patterns and structures even in scenarios where…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Learning computational fluid dynamics (CFD) traditionally relies on computationally intensive simulations of the Navier-Stokes equations. Recently, large language models (LLMs) have shown remarkable pattern recognition and reasoning…