相关论文: RAP: 3D Rasterization Augmented End-to-End Plannin…

In recent years, autonomous parking has made significant advances, yet parking tasks still face challenges in extreme scenarios such as mechanical and dead-end parking slots, often resulting in failures. This is mainly due to traditional…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…

Procedure Planning in instructional videos entails generating a sequence of action steps based on visual observations of the initial and target states. Despite the rapid progress in this task, there remain several critical challenges to be…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online…

3D Gaussian Splatting (3DGS) has emerged as a leading technology for high-quality 3D scene reconstruction. However, the iterative refinement and densification process leads to the generation of a large number of primitives, each…

End-to-end autonomous driving is typically built upon imitation learning (IL), yet its performance is constrained by the quality of human demonstrations. To overcome this limitation, recent methods incorporate reinforcement learning (RL)…

In the pursuit of robust autonomous driving systems, models trained on real-world datasets often struggle to adapt to new environments, particularly when confronted with corner cases such as extreme weather conditions. Collecting these…

End-to-end autonomous driving systems promise stronger performance through unified optimization of perception, motion forecasting, and planning. However, vision-based approaches face fundamental limitations in adverse weather conditions,…

Audio-driven portrait animation aims to synthesize realistic and natural talking head videos from an input audio signal and a single reference image. While existing methods achieve high-quality results by leveraging high-dimensional…

Accurate and long-term spatiotemporal prediction for complex physical systems remains a fundamental challenge in scientific computing. While deep learning models, as powerful parametric approximators, have shown remarkable success, they…

Large language models (LLMs) excel at language understanding and generation, but their enormous computational and memory requirements hinder deployment. Compression offers a potential solution to mitigate these constraints. However, most…

The safe application of reinforcement learning (RL) requires generalization from limited training data to unseen scenarios. Yet, fulfilling tasks under changing circumstances is a key challenge in RL. Current state-of-the-art approaches for…

Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available…

While end-to-end autonomous driving models show promising results, their practical deployment is often hindered by large model sizes, a reliance on expensive LiDAR sensors and computationally intensive BEV feature representations. This…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

Compared to the onboard camera and laser scanner, radar sensor provides lighting and weather invariant sensing, which is naturally suitable for long-term localization under adverse conditions. However, radar data is sparse and noisy,…

End-to-end autonomous driving has gained significant attention for its potential to learn robust behavior in interactive scenarios and scale with data. Popular architectures often build on separate modules for perception and planning…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

This work explores techniques to scale up image-based end-to-end learning for dexterous grasping with an arm + hand system. Unlike state-based RL, vision-based RL is much more memory inefficient, resulting in relatively low batch sizes,…