相关论文: Asset Harvester: Extracting 3D Assets from Autonom…

Automatic optimization of robotic behavior has been the long-standing goal of Evolutionary Robotics. Allowing the problem at hand to be solved by automation often leads to novel approaches and new insights. A common problem encountered with…

Creating 3D assets that follow the texture and geometry style of existing ones is often desirable or even inevitable in practical applications like video gaming and virtual reality. While impressive progress has been made in generating 3D…

To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…

Augmented reality (AR) provides ways to visualize missing view samples for novel view synthesis. Existing approaches present 3D annotations for new view samples and task users with taking images by aligning the AR display. This data…

Autonomous vehicles often have varying camera sensor setups, which is inevitable due to restricted placement options for different vehicle types. Training a perception model on one particular setup and evaluating it on a new, different…

Simulation is crucial for developing and evaluating autonomous vehicle (AV) systems. Recent literature builds on a new generation of generative models to synthesize highly realistic images for full-stack simulation. However, purely…

Vehicle-to-Vehicle (V2V) cooperative perception has great potential to enhance autonomous driving performance by overcoming perception limitations in complex adverse traffic scenarios (CATS). Meanwhile, data serves as the fundamental…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

CAD model retrieval to real-world scene observations has shown strong promise as a basis for 3D perception of objects and a clean, lightweight mesh-based scene representation; however, current approaches to retrieve CAD models to a query…

The autonomous valet parking (AVP) functionality in self-driving vehicles is currently capable of handling most simple parking tasks. However, further training is necessary to enable the AVP algorithm to adapt to complex scenarios and…

Generative video modeling has emerged as a compelling tool to zero-shot reason about plausible physical interactions for open-world manipulation. Yet, it remains a challenge to translate such human-led motions into the low-level actions…

Autonomous Vehicles (AVs) are being partially deployed and tested across various global locations, including China, the USA, Germany, France, Japan, Korea, and the UK, but with limited demonstrations in Australia. The integration of machine…

Autonomous Vehicles (AVs) collect and pseudo-label terabytes of multi-modal data localized to HD maps during normal fleet testing. However, identifying interesting and safety-critical scenarios from uncurated driving logs remains a…

Autonomous driving system development is critically dependent on the ability to replay complex and diverse traffic scenarios in simulation. In such scenarios, the ability to accurately simulate the vehicle sensors such as cameras, lidar or…

We present a flow-matching planner for autonomous driving that directly outputs actionable control trajectories defined by acceleration and curvature profiles. The model is conditioned on a bird's-eye-view (BEV) raster of the surrounding…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

We study active object tracking, where a tracker takes visual observations (i.e., frame sequences) as input and produces the corresponding camera control signals as output (e.g., move forward, turn left, etc.). Conventional methods tackle…

Neural Radiance Fields (NeRFs) have emerged as promising tools for advancing autonomous driving (AD) research, offering scalable closed-loop simulation and data augmentation capabilities. However, to trust the results achieved in…

Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to…

We present a novel approach to the generation of static and articulated 3D assets that has a 3D autodecoder at its core. The 3D autodecoder framework embeds properties learned from the target dataset in the latent space, which can then be…