相关论文: VeMo: A Lightweight Data-Driven Approach to Model …

Latent-variable energy-based models (LVEBMs) assign a single normalized energy to joint pairs of observed data and latent variables, offering expressive generative modeling while capturing hidden structure. We recast maximum-likelihood…

Holistically understanding an object and its 3D movable parts through visual perception models is essential for enabling an autonomous agent to interact with the world. For autonomous driving, the dynamics and states of vehicle parts such…

Perceiving vehicles in a driver's blind spot is vital for safe driving. The detection of potentially dangerous vehicles in these blind spots can benefit from vehicular network semantic communication technology. However, efficient semantic…

Variational autoencoder (VAE) has widely been utilized for modeling data distributions because it is theoretically elegant, easy to train, and has nice manifold representations. However, when applied to image reconstruction and synthesis…

Neural autoencoders underpin generative models. Practical, large-scale use of neural autoencoders for generative modeling necessitates fast encoding, low latent rates, and a single model across representations. Existing approaches are…

Motion forecasts of road users (i.e., agents) vary in complexity depending on the number of agents, scene constraints, and interactions. In particular, the output space of joint trajectory distributions grows exponentially with the number…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles,…

Diffusion autoencoders (DAs) are variants of diffusion generative models that use an input-dependent latent variable to capture representations alongside the diffusion process. These representations, to varying extents, can be used for…

A key advance in learning generative models is the use of amortized inference distributions that are jointly trained with the models. We find that existing training objectives for variational autoencoders can lead to inaccurate amortized…

Vehicle state estimation presents a fundamental challenge for autonomous driving systems, requiring both physical interpretability and the ability to capture complex nonlinear behaviors across diverse operating conditions. Traditional…

Recent work on visual world models shows significant promise in latent state dynamics obtained from pre-trained image backbones. However, most of the current approaches are sensitive to training quality, requiring near-complete coverage of…

We investigate large-scale latent variable models (LVMs) for neural story generation -- an under-explored application for open-domain long text -- with objectives in two threads: generation effectiveness and controllability. LVMs,…

The Variational Autoencoder (VAE) has proven to be an effective model for producing semantically meaningful latent representations for natural data. However, it has thus far seen limited application to sequential data, and, as we…

Predicting future behavior of the surrounding vehicles is crucial for self-driving platforms to safely navigate through other traffic. This is critical when making decisions like crossing an unsignalized intersection. We address the problem…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Recent successful video generation systems that predict and create realistic automotive driving scenes from short video inputs assign tokenization, future state prediction (world model), and video decoding to dedicated models. These…

Model reduction of high-dimensional dynamical systems alleviates computational burdens faced in various tasks from design optimization to model predictive control. One popular model reduction approach is based on projecting the governing…

Latent variable generative models have emerged as powerful tools for generative tasks including image and video synthesis. These models are enabled by pretrained autoencoders that map high resolution data into a compressed lower dimensional…

Accurate motion forecasting for traffic agents is crucial for ensuring the safety and efficiency of autonomous driving systems in dynamically changing environments. Mainstream methods adopt a one-query-one-trajectory paradigm, where each…