相关论文: Infrastructure-Centric World Models: Bridging Temp…

Exploring open-world situations in an end-to-end manner is a promising yet challenging task due to the need for strong generalization capabilities. In particular, end-to-end autonomous driving in unstructured outdoor environments often…

World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

A semantic map of the road scene, covering fundamental road elements, is an essential ingredient in autonomous driving systems. It provides important perception foundations for positioning and planning when rendered in the Bird's-Eye-View…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

The key to achieving autonomous driving lies in topology-aware perception, the structured understanding of the driving environment with an emphasis on lane topology and road semantics. This survey systematically reviews four core research…

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

Autonomous driving promises transformative improvements to transportation, but building systems capable of safely navigating the unstructured complexity of real-world scenarios remains challenging. A critical problem lies in effectively…

Urban traffic speed prediction aims to estimate the future traffic speed for improving the urban transportation services. Enormous efforts have been made on exploiting spatial correlations and temporal dependencies of traffic speed evolving…

Real-time urban traffic surveillance is vital for Intelligent Transportation Systems (ITS) to ensure road safety, optimize traffic flow, track vehicle trajectories, and prevent collisions in smart cities. Deploying edge cameras across urban…

World models aim to improve robotic decision making by predicting the consequences of actions. However, in practice, their predictions often become unreliable once the robot encounters states outside the training distribution, limiting…

Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-based perception approaches often struggle with sensor noise,…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

End-to-end autonomous driving offers a streamlined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained…

A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to…

Pretrained foundation models have become an important basis for end-to-end autonomous driving. In contrast to vision-language models pretrained primarily on static image-text pairs, video generative models capture temporal dynamics and…

With the growing interest in autonomous driving, there is an increasing demand for accurate and reliable road perception technologies. In complex environments without high-definition map support, autonomous vehicles must independently…

End-to-end autonomous driving methods aim to directly map raw sensor inputs to future driving actions such as planned trajectories, bypassing traditional modular pipelines. While these approaches have shown promise, they often operate under…

Collaborative perception plays a crucial role in enhancing environmental understanding by expanding the perceptual range and improving robustness against sensor failures, which primarily involves collaborative 3D detection and tracking…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…