相关论文: TrajDiff: End-to-end Autonomous Driving without Pe…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

This paper introduces TopoDiffuser, a diffusion-based framework for multimodal trajectory prediction that incorporates topometric maps to generate accurate, diverse, and road-compliant future motion forecasts. By embedding structural cues…

In recent years, significant progress has been made in collecting large-scale datasets to improve segmentation and autonomous driving models. These large-scale datasets are often dominated by common environmental conditions such as "Clear…

A self-driving perception model aims to extract 3D semantic representations from multiple cameras collectively into the bird's-eye-view (BEV) coordinate frame of the ego car in order to ground downstream planner. Existing perception methods…

The advancement of vision-only Bird's-Eye-View (BEV) perception, a core paradigm for cost-effective autonomous driving, is hindered by the long-standing fundamental trade-off between perception accuracy and on-device deployment efficiency.…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

End-to-end multi-modal planning has become a transformative paradigm in autonomous driving, effectively addressing behavioral multi-modality and the generalization challenge in long-tail scenarios. We propose AnchDrive, a framework for…

The goal of traffic simulation is to augment a potentially limited amount of manually-driven miles that is available for testing and validation, with a much larger amount of simulated synthetic miles. The culmination of this vision would be…

Self-driving cars relying solely on ego-centric perception face limitations in sensing, often failing to detect occluded, faraway objects. Collaborative autonomous driving (CAV) seems like a promising direction, but collecting data for…

Research interest in end-to-end autonomous driving has surged owing to its fully differentiable design integrating modular tasks, i.e. perception, prediction and planing, which enables optimization in pursuit of the ultimate goal. Despite…

Pavement crack detection has long depended on costly and time-intensive pixel-level annotations, which limit its scalability for large-scale infrastructure monitoring. To overcome this barrier, this paper examines the feasibility of…

End-to-end autonomous driving (E2E-AD) has emerged as a trend in the field of autonomous driving, promising a data-driven, scalable approach to system design. However, existing E2E-AD methods usually adopt the sequential paradigm of…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Autonomous driving systems require real-time environmental perception to ensure user safety and experience. Streaming perception is a task of reporting the current state of the world, which is used to evaluate the delay and accuracy of…

Diffusion Language Models (DLMs) have recently emerged as a promising alternative to autoregressive language models, offering stronger global awareness and highly parallel generation. However, post-training DLMs with standard Negative…

Trajectory data is crucial for various applications but often suffers from incompleteness due to device limitations and diverse collection scenarios. Existing imputation methods rely on sparse trajectory or travel information, such as…

Collecting multi-view driving scenario videos to enhance the performance of 3D visual perception tasks presents significant challenges and incurs substantial costs, making generative models for realistic data an appealing alternative. Yet,…

Vehicle trajectory prediction is crucial for advancing autonomous driving and advanced driver assistance systems (ADAS), enhancing road safety and traffic efficiency. While traditional methods have laid foundational work, modern deep…

End-to-end autonomous driving faces persistent challenges in both generating diverse, rule-compliant trajectories and robustly selecting the optimal path from these options via learned, multi-faceted evaluation. To address these challenges,…