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

This study introduces a novel approach to autonomous motion planning, informing an analytical algorithm with a reinforcement learning (RL) agent within a Frenet coordinate system. The combination directly addresses the challenges of…

Non-rigid 3D mesh matching is a critical step in computer vision and computer graphics pipelines. We tackle matching meshes that contain topological artefacts which can break the assumption made by current approaches. While Functional Maps…

End-to-end autonomous driving systems powered by Vision-Language-Action (VLA) models achieve strong performance on common driving scenarios, yet remain brittle in rare but safety-critical long-tail situations such as active construction…

Achieving both realism and controllability in closed-loop traffic simulation remains a key challenge in autonomous driving. Dataset-based methods reproduce realistic trajectories but suffer from covariate shift in closed-loop deployment,…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Accurate camera localization is an essential part of tracking systems. However, localization results are greatly affected by illumination. Including data collected under various lighting conditions can improve the robustness of the…

End-to-end planning has emerged as a dominant paradigm for autonomous driving, where recent models often adopt a scoring-selection framework to choose trajectories from a large set of candidates, with diffusion-based decoding showing strong…

End-to-end differentiable learning for autonomous driving (AD) has recently become a prominent paradigm. One main bottleneck lies in its voracious appetite for high-quality labeled data e.g. 3D bounding boxes and semantic segmentation,…

Textual descriptions for multimodal inputs entail recurrent refinement of queries to produce relevant output images. Despite efforts to address challenges such as scaling model size and data volume, the cost associated with pre-training and…

3D Gaussian Splatting (3DGS) has recently gained significant attention for high-quality and efficient view synthesis, making it widely adopted in fields such as AR/VR, robotics, and autonomous driving. Despite its impressive algorithmic…

End-to-end autonomous driving has emerged as a promising paradigm for directly mapping sensor inputs to planning maneuvers using learning-based modular integrations. However, existing imitation learning (IL)-based models suffer from…

Rendering is the process of generating 2D images from 3D assets, simulated in a virtual environment, typically with a graphics pipeline. By inverting such renderer, one can think of a learning approach to predict a 3D shape from an input…

Real-world instructional videos are long, noisy, and often contain extended background segments, repeated actions, and execution variability that do not correspond to meaningful procedural steps. We propose **REMAP**, an unsupervised…

Traversing through a tilted narrow gap is previously an intractable task for reinforcement learning mainly due to two challenges. First, searching feasible trajectories is not trivial because the goal behind the gap is difficult to reach.…

Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…

Planning-based reinforcement learning has shown strong performance in tasks in discrete and low-dimensional continuous action spaces. However, planning usually brings significant computational overhead for decision-making, and scaling such…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

Traffic prediction is a cornerstone of modern intelligent transportation systems and a critical task in spatio-temporal forecasting. Although advanced Spatio-temporal Graph Neural Networks (STGNNs) and pre-trained models have achieved…

Deep Reinforcement Learning (DRL) has emerged as a promising approach for solving Combinatorial Optimization (CO) problems, such as the 3D Bin Packing Problem (3D-BPP), Traveling Salesman Problem (TSP), or Vehicle Routing Problem (VRP), but…