相关论文: Unified Map Prior Encoder for Mapping and Planning

The Masked Autoencoder (MAE) has recently demonstrated effectiveness in pre-training Vision Transformers (ViT) for analyzing natural images. By reconstructing complete images from partially masked inputs, the ViT encoder gathers contextual…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…

Survival analysis, as a challenging task, requires integrating Whole Slide Images (WSIs) and genomic data for comprehensive decision-making. There are two main challenges in this task: significant heterogeneity and complex inter- and…

Understanding road geometry is a critical component of the autonomous vehicle (AV) stack. While high-definition (HD) maps can readily provide such information, they suffer from high labeling and maintenance costs. Accordingly, many recent…

We propose a novel approach to unsupervised learning by constructing a non-linear embedding of the data into a low-dimensional space followed by any conventional clustering algorithm. The embedding promotes clusterability of the data and is…

Camera-conditioned video generation requires positional encoding that remains reliable under changes in camera motion, lens configuration, and scene structure. However, existing attention-level camera encodings either provide ray-only…

Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…

This paper explores improvements to the masked image modeling (MIM) paradigm. The MIM paradigm enables the model to learn the main object features of the image by masking the input image and predicting the masked part by the unmasked part.…

In our prior study of an L-bit priority encoder (PE), a so-called one-directional-array to two-directional-array conversion method is deployed to turn an L-bit input data into an MxN-bit matrix. Following this, an N-bit PE and an M-bit PE…

Multimodal position encoding is essential for vision-language models, yet there has been little systematic investigation into multimodal position encoding. We conduct a comprehensive analysis of multimodal Rotary Positional Embedding (RoPE)…

We present Uni-Fusion, a universal continuous mapping framework for surfaces, surface properties (color, infrared, etc.) and more (latent features in CLIP embedding space, etc.). We propose the first universal implicit encoding model that…

Cross-modality magnetic resonance (MR) image synthesis can be used to generate missing modalities from given ones. Existing (supervised learning) methods often require a large number of paired multi-modal data to train an effective…

End-to-end autonomous driving (E2E-AD) has emerged as a trend in the field of autonomous driving, promising a data-driven, scalable approach to system design. However, existing E2E-AD methods usually adopt the sequential paradigm of…

Deep learning on an edge device requires energy efficient operation due to ever diminishing power budget. Intentional low quality data during the data acquisition for longer battery life, and natural noise from the low cost sensor degrade…

This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…

Self-supervised representation learning for point cloud videos remains a challenging problem with two key limitations: (1) existing methods rely on explicit knowledge to learn motion, resulting in suboptimal representations; (2) prior…

It is crucial to choose actions from an appropriate distribution while learning a sequential decision-making process in which a set of actions is expected given the states and previous reward. Yet, if there are more than two latent…

Autonomous navigation in mobile robots, reliant on perception and planning, faces major hurdles in large-scale, complex environments. These include heavy computational burdens for mapping, sensor occlusion failures for UAVs, and traversal…

Autonomous driving for urban and highway driving applications often requires High Definition (HD) maps to generate a navigation plan. Nevertheless, various challenges arise when generating and maintaining HD maps at scale. While recent…

We present Unified PDE Solvers (UPS), a data- and compute-efficient approach to developing unified neural operators for diverse families of spatiotemporal PDEs from various domains, dimensions, and resolutions. UPS embeds different PDEs…