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

Source-Free Domain Adaptation (SFDA) aims to adapt a pre-trained source model to an unlabeled target domain without access to source data. Recent advances in Foundation Models (FMs) have introduced new opportunities for leveraging external…

Computational Fluid Dynamics (CFD) is widely used in aerospace, energy, and biology to model fluid flow, heat transfer, and chemical reactions. While Large Language Models (LLMs) have transformed various domains, their application in CFD…

Rapid development of large-scale pre-training has resulted in foundation models that can act as effective feature extractors on a variety of downstream tasks and domains. Motivated by this, we study the efficacy of pre-trained vision models…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

As the development of cities, traffic congestion becomes an increasingly pressing issue, and traffic prediction is a classic method to relieve that issue. Traffic prediction is one specific application of spatio-temporal prediction…

Foundation model-based semantic transmission has recently shown great potential in wireless image communication. However, existing methods exhibit two major limitations: (i) they overlook the varying importance of semantic components for…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…

Large-scale training of latent diffusion models (LDMs) has enabled unprecedented quality in image generation. However, the key components of the best performing LDM training recipes are oftentimes not available to the research community,…

High-precision scene parsing tasks, including image matting and dichotomous segmentation, aim to accurately predict masks with extremely fine details (such as hair). Most existing methods focus on salient, single foreground objects. While…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

The rapid advancement of autonomous systems, including self-driving vehicles and drones, has intensified the need to forge true Spatial Intelligence from multi-modal onboard sensor data. While foundation models excel in single-modal…

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…

While large language models (LLMs) have been applied to automatic speech recognition (ASR), the task of making the model streamable remains a challenge. This paper proposes a novel model architecture, Transducer-Llama, that integrates LLMs…

Semantic scene understanding with Minimalist Optical Systems (MOS) in mobile and wearable applications remains a challenge due to the corrupted imaging quality induced by optical aberrations. However, previous works only focus on improving…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

Recently, the application of diffusion models has facilitated the significant development of speech and audio generation. Nevertheless, the quality of samples generated by diffusion models still needs improvement. And the effectiveness of…

Lidar point cloud synthesis based on generative models offers a promising solution to augment deep learning pipelines, particularly when real-world data is scarce or lacks diversity. By enabling flexible object manipulation, this synthesis…

For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…

World models enable robots to conduct counterfactual reasoning in physical environments by predicting future world states. While conventional approaches often prioritize pixel-level reconstruction of future scenes, such detailed rendering…