相关论文: Drift-Resistant Navigation World Model with Anchor…

Traditional continual learning methods prioritize knowledge retention and focus primarily on mitigating catastrophic forgetting, implicitly assuming that the data distribution of previously learned tasks remains static. This overlooks the…

The autoregressive world model exhibits robust generalization capabilities in vectorized scene understanding but encounters difficulties in deriving actions due to insufficient uncertainty modeling and self-delusion. In this paper, we…

Maintaining spatial world consistency over long horizons remains a central challenge for camera-controllable video generation. Existing memory-based approaches often condition generation on globally reconstructed 3D scenes by rendering…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…

In real-world applications, input data distributions are rarely static over a period of time, a phenomenon known as concept drift. Such concept drifts degrade the model's prediction performance, and therefore we require methods to overcome…

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

We present the Global Neural World Model (GNWM), a self-stabilizing framework that achieves topological quantization through balanced continuous entropy constraints. Operating as a continuous, action-conditioned Joint-Embedding Predictive…

Maritime vessel maneuvers, characterized by their inherent complexity and indeterminacy, requires vessel trajectory prediction system capable of modeling the multi-modality nature of future motion states. Conventional stochastic trajectory…

Long-horizon video generation suffers from two intertwined issues. First, there is drift, where video quality degrades over time. Second, there are continuity issues which manifest as object permanence issues, or improperly rendering…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

Uncertain changes in data streams present challenges for machine learning models to dynamically adapt and uphold performance in real-time. Particularly, classification boundary change, also known as real concept drift, is the major cause of…

Latent World Models enhance scene representation through temporal self-supervised learning, presenting a perception annotation-free paradigm for end-to-end autonomous driving. However, the reconstruction-oriented representation learning…

Inference-time guided sampling steers state-of-the-art diffusion and flow models without fine-tuning by interpreting the generation process as a controllable trajectory. This provides a simple and flexible way to inject external constraints…

Given trajectory data, a domain-specific study area, and a user-defined threshold, we aim to find anomalous trajectories indicative of possible GPS spoofing (e.g., fake trajectory). The problem is societally important to curb illegal…

Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…

In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…

Adapting to concept drift is a challenging task in machine learning, which is usually tackled using incremental learning techniques that periodically re-fit a learning model leveraging newly available data. A primary limitation of these…

Social navigation requires robots to act safely in dynamic human environments. Effective behavior demands thinking ahead: reasoning about how the scene and pedestrians evolve under different robot actions rather than reacting to current…

Generative video modeling has made significant strides, yet ensuring structural and temporal consistency over long sequences remains a challenge. Current methods predominantly rely on RGB signals, leading to accumulated errors in object…