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

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Labeling LiDAR point clouds for training autonomous driving is extremely expensive and difficult. LiDAR simulation aims at generating realistic LiDAR data with labels for training and verifying self-driving algorithms more efficiently.…

Reinforcement learning combined with imitation learning has significantly advanced biomimetic quadrupedal locomotion. However, scaling these frameworks to massive, multi-source datasets exposes fundamental bottlenecks. First, traditional…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

Virtual testing is a crucial task to ensure safety in autonomous driving, and sensor simulation is an important task in this domain. Most current LiDAR simulations are very simplistic and are mainly used to perform initial tests, while the…

Recently, diffusion-based blind super-resolution (SR) methods have shown great ability to generate high-resolution images with abundant high-frequency detail, but the detail is often achieved at the expense of fidelity. Meanwhile, another…

Accurate 3D scene flow estimation is critical for autonomous systems to navigate dynamic environments safely, but creating the necessary large-scale, manually annotated datasets remains a significant bottleneck for developing robust…

Realistic and interactive scene simulation is a key prerequisite for autonomous vehicle (AV) development. In this work, we present SceneDiffuser, a scene-level diffusion prior designed for traffic simulation. It offers a unified framework…

Simulating vision-based tactile sensors enables learning models for contact-rich tasks when collecting real world data at scale can be prohibitive. However, modeling the optical response of the gel deformation as well as incorporating the…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…

Real-life medical data is often multimodal and incomplete, fueling the growing need for advanced deep learning models capable of integrating them efficiently. The use of diverse modalities, including histopathology slides, MRI, and genetic…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed…

Vision-based perception and reasoning is essential for scene understanding in any autonomous system. RGB and depth images are commonly used to capture both the semantic and geometric features of the environment. Developing methods to…

While surface normals are widely used to analyse 3D scene geometry, surface normal estimation from LiDAR point clouds remains severely underexplored. This is caused by the lack of large-scale annotated datasets on the one hand, and lack of…

Text-to-LiDAR generation can customize 3D data with rich structures and diverse scenes for downstream tasks. However, the scarcity of Text-LiDAR pairs often causes insufficient training priors, generating overly smooth 3D scenes. Moreover,…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Generating high-quality and person-generic visual dubbing remains a challenge. Recent innovation has seen the advent of a two-stage paradigm, decoupling the rendering and lip synchronization process facilitated by intermediate…

Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the…

Driven by the emergence of Controllable Video Diffusion, existing Sim2Real methods for autonomous driving video generation typically rely on explicit intermediate representations to bridge the domain gap. However, these modalities face a…