相关论文: Uncertainty-Calibrated Spatiotemporal Field Diffus…

Segmenting objects in an environment is a crucial task for autonomous driving and robotics, as it enables a better understanding of the surroundings of each agent. Although camera sensors provide rich visual details, they are vulnerable to…

Remarkable gains in deep learning usually rely on tremendous supervised data. Ensuring the modality diversity for one object in training set is critical for the generalization of cutting-edge deep models, but it burdens human with heavy…

Accurate camera viewpoint estimation under sparse-view conditions remains challenging, particularly in two-view scenarios. Recent approaches leverage diffusion models such as Zero123 to synthesize novel views conditioned on relative…

Understanding foggy image sequence in the driving scenes is critical for autonomous driving, but it remains a challenging task due to the difficulty in collecting and annotating real-world images of adverse weather. Recently, the…

We present a mechanism to steer the sampling diversity of denoising diffusion and flow matching models, allowing users to sample from a sharper or broader distribution than the training distribution. We build on the observation that these…

Recovering continuous-time dynamics from discrete observations is difficult because local supervision (e.g., pointwise regression targets, derivative approximations, or equation residuals) loses fidelity as the observation interval grows.…

High-resolution highway traffic state information is essential for Intelligent Transportation Systems, but typical traffic data acquired from loop detectors and probe vehicles are often too sparse and noisy to capture the detailed dynamics…

Accurate localization of non-cooperative signal sources in non-line-of-sight (NLoS) environments remains a critical challenge with a wide range of applications, including autonomous navigation, industrial automation, and emergency response.…

Sparse data is fundamental to scientific simulations in biology and physics, from single-cell gene expression to particle calorimetry, where exact zeros encode physical absence rather than weak signal. However, existing diffusion models…

Video monocular depth estimation is essential for applications such as autonomous driving, AR/VR, and robotics. Recent transformer-based single-image monocular depth estimation models perform well on single images but struggle with depth…

Data assimilation (DA) improves prediction of chaotic systems by combining model forecasts with sparse, noisy observations. Many DA methods are inherently probabilistic, but accurate probabilistic DA is often computationally expensive…

Combining sparse IMUs and a monocular camera is a new promising setting to perform real-time human motion capture. This paper proposes a diffusion-based solution to learn human motion priors and fuse the two modalities of signals together…

The presence of missing values often reflects variations in data collection policies, which may shift across time or locations, even when the underlying feature distribution remains stable. Such shifts in the missingness distribution…

The growing interest in novel view synthesis, driven by Neural Radiance Field (NeRF) models, is hindered by scalability issues due to their reliance on precisely annotated multi-view images. Recent models address this by fine-tuning large…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Modality translation is inherently under-constrained, as multiple cross-modal mappings may yield the same marginals. Recent work has shown that diffusion bridges are effective for this task. However, most existing approaches rely on fully…

Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…

In this paper we consider the uniformity testing problem for high-dimensional discrete distributions (multinomials) under sparse alternatives. More precisely, we derive sharp detection thresholds for testing, based on $n$ samples, whether a…

Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…

We propose a general dynamic reduced-order modeling framework for typical experimental data: time-resolved sensor data and optional non-time-resolved PIV snapshots. This framework contains four steps. First, the sensor signals are lifted to…