相关论文: CBDES MoE: Hierarchically Decoupled Mixture-of-Exp…

To meet the growing demand for smarter, faster, and more efficient embodied AI solutions, we introduce a novel Mixture-of-Expert (MoE) method that significantly boosts reasoning and learning efficiency for embodied autonomous systems.…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

Mixture-of-Experts (MoE) models provide a structured approach to combining specialized neural networks and offer greater interpretability than conventional ensembles. While MoEs have been successfully applied to image classification and…

Collaborative perception aims to extend sensing coverage and improve perception accuracy by sharing information among multiple agents. However, due to differences in viewpoints and spatial positions, agents often acquire heterogeneous…

Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation has…

The application of mixture-of-experts (MoE) is gaining popularity due to its ability to improve model's performance. In an MoE structure, the gate layer plays a significant role in distinguishing and routing input features to different…

Multi-modal 3D understanding is a fundamental task in computer vision. Previous multi-modal fusion methods typically employ a single, dense fusion network, struggling to handle the significant heterogeneity and complexity across modalities,…

In the landscape of autonomous driving, Bird's-Eye-View (BEV) representation has recently garnered substantial academic attention, serving as a transformative framework for the fusion of multi-modal sensor inputs. This BEV paradigm…

This paper presents Edge-based Mixture of Experts (MoE) Collaborative Computing (EMC2), an optimal computing system designed for autonomous vehicles (AVs) that simultaneously achieves low-latency and high-accuracy 3D object detection.…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

High-definition (HD) maps are essential for autonomous driving, yet multi-modal fusion often suffers from inconsistency between camera and LiDAR modalities, leading to performance degradation under low-light conditions, occlusions, or…

Mixture of Experts (MoE) models enable parameter-efficient scaling through sparse expert activations, yet optimizing their inference and memory costs remains challenging due to limited understanding of their specialization behavior. We…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Mixture-of-Experts (MoE) enhances model performance while maintaining computational efficiency, making it well-suited for large-scale applications. Conventional mixture-of-experts (MoE) architectures suffer from suboptimal coordination…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Mixture-of-Experts (MoE) models embody the divide-and-conquer concept and are a promising approach for increasing model capacity, demonstrating excellent scalability across multiple domains. In this paper, we integrate the MoE structure…

Mixture-of-Experts (MoE) architectures achieve parameter efficiency through conditional computation, yet contemporary designs suffer from two fundamental limitations: structural parameter isolation that causes catastrophic forgetting, and…