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

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

Obtaining predictive low-order models is a central challenge in fluid dynamics. Data-driven frameworks have been widely used to obtain low-order models of aerodynamic systems; yet, resulting models tend to yield predictions that grow…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

The search for refining 3D LiDAR data has attracted growing interest motivated by recent techniques such as supervised learning or generative model-based methods. Existing approaches have shown the possibilities for using diffusion models…

Achieving pixel-level segmentation with low computational cost using multimodal data remains a key challenge in crack segmentation tasks. Existing methods lack the capability for adaptive perception and efficient interactive fusion of…

Latent force models (LFM) are principled approaches to incorporating solutions to differential equations within non-parametric inference methods. Unfortunately, the development and application of LFMs can be inhibited by their computational…

Spatio-temporal sensor data in real-world systems is often sparse, noisy, and irregular, making latent field reconstruction fundamentally underconstrained. Under extreme sparsity, multiple physically plausible fields may remain consistent…

Diffusion models can learn rich representations during data generation, showing potential for Self-Supervised Learning (SSL), but they face a trade-off between generative quality and discriminative performance. Their iterative sampling also…

Although data is abundant, data labeling is expensive. Semi-supervised learning methods combine a few labeled samples with a large corpus of unlabeled data to effectively train models. This paper introduces our proposed method LiDAM, a…

Perception systems in autonomous driving rely on sensors such as LiDAR and cameras to perceive the 3D environment. However, due to occlusions and data sparsity, these sensors often fail to capture complete information. Semantic Occupancy…

Predicting future states of dynamic agents is a fundamental task in autonomous driving. An expressive representation for this purpose is Occupancy Flow Fields, which provide a scalable and unified format for modeling motion, spatial extent,…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Astronomical time-series analysis faces a critical limitation: the scarcity of labeled observational data. We present a pre-training approach that leverages simulations, significantly reducing the need for labeled examples from real…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

Precipitation nowcasting is a critical spatio-temporal prediction task for society to prevent severe damage owing to extreme weather events. Despite the advances in this field, the complex and stochastic nature of this task still poses…

Recent advancements in image restoration increasingly employ conditional latent diffusion models (CLDMs). While these models have demonstrated notable performance improvements in recent years, this work questions their suitability for IR…

This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland,…

Recent developments in 3D vision have enabled significant progress in inferring neural fluid fields and realistic rendering of fluid dynamics. However, these methods require dense captures of real-world flows, which demand specialized…