相关论文: Driving on Registers

We present pure-transformer based models for video classification, drawing upon the recent success of such models in image classification. Our model extracts spatio-temporal tokens from the input video, which are then encoded by a series of…

This paper introduces a real-time Vehicle Collision Avoidance System (V-CAS) designed to enhance vehicle safety through adaptive braking based on environmental perception. V-CAS leverages the advanced vision-based transformer model RT-DETR,…

How should we integrate representations from complementary sensors for autonomous driving? Geometry-based fusion has shown promise for perception (e.g. object detection, motion forecasting). However, in the context of end-to-end driving, we…

How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…

End-to-end autonomous driving has emerged as a promising paradigm for achieving robust and intelligent driving policies. However, existing end-to-end methods still face significant challenges, such as suboptimal decision-making in complex…

Autonomous vehicles must navigate safely in complex driving environments. Imitating a single expert trajectory, as in regression-based approaches, usually does not explicitly assess the safety of the predicted trajectory. Selection-based…

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have…

Transformer has achieved competitive performance against state-of-the-art end-to-end models in automatic speech recognition (ASR), and requires significantly less training time than RNN-based models. The original Transformer, with…

We present Flex, an efficient and effective scene encoder that addresses the computational bottleneck of processing high-volume multi-camera data in end-to-end autonomous driving. Flex employs a small set of learnable scene tokens to…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

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,…

Autonomous driving vehicles with self-learning capabilities are expected to evolve in complex environments to improve their ability to cope with different scenarios. However, most self-learning algorithms suffer from low learning efficiency…

Autonomous parking plays a vital role in intelligent vehicle systems, particularly in constrained urban environments where high-precision control is required. While traditional rule-based parking systems struggle with environmental…

Real-time traffic light recognition is fundamental for autonomous driving safety and navigation in urban environments. While existing approaches rely on single-frame analysis from onboard cameras, they struggle with complex scenarios…

We propose a novel spectral vision transformer architecture for efficient tokenization in limited data, with an emphasis on medical imaging. We outline convenient theoretical properties arising from the choice of basis including spatial…

Perception is a cornerstone of autonomous driving, enabling vehicles to understand their surroundings and make safe, reliable decisions. Developing robust perception algorithms requires large-scale, high-quality datasets that cover diverse…

In this paper, we propose an accurate and robust perception module for Autonomous Vehicles (AVs) for drivable space extraction. Perception is crucial in autonomous driving, where many deep learning-based methods, while accurate on benchmark…

Benchmarking vision-based driving policies is challenging. On one hand, open-loop evaluation with real data is easy, but these results do not reflect closed-loop performance. On the other, closed-loop evaluation is possible in simulation,…

In this paper, we present a neat yet effective transformer-based framework for visual grounding, namely TransVG, to address the task of grounding a language query to the corresponding region onto an image. The state-of-the-art methods,…

In unknown cluttered and dynamic environments such as disaster scenes, mobile robots need to perform target-driven navigation in order to find people or objects of interest, while being solely guided by images of the targets. In this paper,…