相关论文: UniLION: Towards Unified Autonomous Driving Model …

The benefit of transformers in large-scale 3D point cloud perception tasks, such as 3D object detection, is limited by their quadratic computation cost when modeling long-range relationships. In contrast, linear RNNs have low computational…

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…

World models have demonstrated significant promise for data synthesis in autonomous driving. However, existing methods predominantly concentrate on single-modality generation, typically focusing on either multi-camera video or LiDAR…

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…

Embodied vision-based real-world systems, such as mobile robots, require a careful balance between energy consumption, compute latency, and safety constraints to optimize operation across dynamic tasks and contexts. As local computation…

Self-driving vehicles (SDVs) require accurate calibration of LiDARs and cameras to fuse sensor data accurately for autonomy. Traditional calibration methods typically leverage fiducials captured in a controlled and structured scene and…

Generating high-fidelity, controllable, and annotated training data is critical for autonomous driving. Existing methods typically generate a single data form directly from a coarse scene layout, which not only fails to output rich data…

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections…

Vision-Language Models(VLMs) excel at autoregressive text generation, yet end-to-end autonomous driving requires multi-task learning with structured outputs and heterogeneous decoding behaviors, such as autoregressive language generation,…

Linear Transformers and State Space Models have emerged as efficient alternatives to softmax Transformers for causal sequence modeling, enabling parallel training via matrix multiplication and efficient RNN-style inference. However, despite…

World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision-language models (VLMs) for planning, yet existing…

Motion simulation, prediction and planning are foundational tasks in autonomous driving, each essential for modeling and reasoning about dynamic traffic scenarios. While often addressed in isolation due to their differing objectives, such…

We present UniFuture, a unified 4D Driving World Model designed to simulate the dynamic evolution of the 3D physical world. Unlike existing driving world models that focus solely on 2D pixel-level video generation (lacking geometry) or…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Unified understanding and generation is a highly appealing research direction in multimodal learning. There exist two approaches: one trains a transformer via an auto-regressive paradigm, and the other adopts a two-stage scheme connecting…

Achieving reliable and efficient planning in complex driving environments requires a model that can reason over the scene's geometry, appearance, and dynamics. We present UniDWM, a unified driving world model that advances autonomous…

The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified map robust to sensor modalities and dynamic environments…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

End-to-end paradigms have demonstrated great potential for autonomous driving. Additionally, most existing methods are built upon Transformer architectures. However, transformers incur a quadratic attention cost, limiting their ability to…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…