相关论文: DRUM: Diffusion-based Raydrop-aware Unpaired Mappi…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

Simulation-based design, optimization, and validation of autonomous vehicles have proven to be crucial for their improvement over the years. Nevertheless, the ultimate measure of effectiveness is their successful transition from simulation…

3D data simulation aims to bridge the gap between simulated and real-captured 3D data, which is a fundamental problem for real-world 3D visual tasks. Most 3D data simulation methods inject predefined physical priors but struggle to capture…

We present DREAM, a novel training framework representing Diffusion Rectification and Estimation Adaptive Models, requiring minimal code changes (just three lines) yet significantly enhancing the alignment of training with sampling in…

Generating large-scale synthetic data in simulation is a feasible alternative to collecting/labelling real data for training vision-based deep learning models, albeit the modelling inaccuracies do not generalize to the physical world. In…

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected…

Diffusion Models (DMs) have achieved State-Of-The-Art (SOTA) results in the Lidar point cloud generation task, benefiting from their stable training and iterative refinement during sampling. However, DMs often fail to realistically model…

Lidar point cloud synthesis based on generative models offers a promising solution to augment deep learning pipelines, particularly when real-world data is scarce or lacks diversity. By enabling flexible object manipulation, this synthesis…

Diffusion-based super-resolution (SR) models have recently garnered significant attention due to their potent restoration capabilities. But conventional diffusion models perform noise sampling from a single distribution, constraining their…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

Robot manipulation in the real world is fundamentally constrained by the visual sim2real gap, where depth observations collected in simulation fail to reflect the complex noise patterns inherent to real sensors. In this work, inspired by…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Extreme floods pose escalating risks in a changing climate, yet forecasting remains challenging due to peak flow underestimation and high uncertainty. We introduce DRUM, a diffusion-based probabilistic deep learning approach that advances…

Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Dataset distillation plays a crucial role in creating compact datasets with similar training performance compared with original large-scale ones. This is essential for addressing the challenges of data storage and training costs. Prevalent…

Diffusion models (DMs) have achieved state-of-the-art results for image synthesis tasks as well as density estimation. Applied in the latent space of a powerful pretrained autoencoder (LDM), their immense computational requirements can be…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

Sim2Real domain transfer offers a cost-effective and scalable approach for developing LiDAR-based perception (e.g., object detection, tracking, segmentation) in Intelligent Transportation Systems (ITS). However, perception models trained in…