36 accepted papers
On-the-fly 3D reconstruction from monocular image sequences is a long-standing challenge in computer vision, critical for applications such as real-to-sim, AR/VR, and robotics. Existing methods face a major tradeoff: per-scene optimization yields high fidelity but is computationally expensive, where…
Planning-oriented end-to-end driving models show great promise, yet they fundamentally learn statistical correlations instead of true causal relationships. This vulnerability leads to causal confusion, where models exploit dataset biases as shortcuts, critically harming their reliability and safety
Modular design of planning-oriented autonomous driving has markedly advanced end-to-end systems. However, existing architectures remain constrained by an over-reliance on ego status, hindering generalization and robust scene understanding. We identify the root cause as an inherent design within thes
Dynamic scene reconstruction in autonomous driving remains a fundamental challenge due to significant temporal variations, moving objects, and complex scene dynamics. Existing feed-forward 3D models have demonstrated strong performance in static reconstruction but still struggle to capture dynamic m
Video Large Language Models (VLMs) have achieved remarkable success in video understanding, but the significant computational cost from processing dense frames severely limits their practical application. Existing methods alleviate this by selecting keyframes, but their greedy decision-making, combi
The online construction of vectorized high-definition (HD) maps is a cornerstone of modern autonomous driving systems. State-of-the-art approaches, particularly those based on the DETR framework, formulate this as an instance detection problem. However, their reliance on independent, learnable objec…
Continuous image tokenizers enable efficient visual generation, and those based on variational frameworks can learn smooth, structured latent representations through KL regularization. Yet this often leads to posterior collapse when using fewer tokens, where the encoder fails to encode informative f
In point-line Simultaneous Localization and Mapping (SLAM) systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves using minimal parameter …
While Diffusion Large Language Models (dLLMs) offer structural advantages for global planning, efficiently verifying that they arrive at correct answers via valid reasoning traces remains a critical challenge. In this work, we propose a geometric perspective: Reasoning on the Manifold. We hypothesiz…
Safe autonomous systems in complex environments require robust road anomaly segmentation to identify unknown obstacles. However, existing approaches often rely on pixel-level statistics to determine whether a region appears anomalous. This reliance leads to high false-positive rates on semantically …
Accurate localization is essential for the safe and effective navigation of autonomous vehicles, and Simultaneous Localization and Mapping (SLAM) is a cornerstone technology in this context. However, The performance of the SLAM system can deteriorate under challenging conditions such as low light, a
Point clouds collected from real-world environments are often incomplete due to factors such as limited sensor resolution, single viewpoints, occlusions, and noise. These challenges make point cloud completion essential for various applications. A key difficulty in this task is predicting the overal
Imitation learning is increasingly utilized to improve driving performance using real-world data, yet ensuring the safety of its outputs remains a fundamental challenge. While differentiable optimization-based methods are widely employed to enhance safety of imitation planner, their joint training o
Low-light Object detection is crucial for many real-world applications but remains challenging due to degraded image quality. While recent studies have shown that RAW images offer superior potential over RGB images, existing approaches either use RAW-RGB images with information loss or employ comple…
Multi-View Representation Learning (MVRL) aims to derive a unified representation from multi-view data by leveraging shared and complementary information across views. However, when views are irregularly missing, the incomplete data can lead to representations that lack sufficiency and consistency.…
To deploy machine learning models in the real world, researchers have proposed many OOD detection algorithms to help models identify unknown samples during the inference phase and prevent them from making untrustworthy predictions. Unlike methods that rely on extra data for outlier exposure training…
Graph Neural Networks (GNNs) are pivotal in graph classification but often struggle with generalization and overfitting. We introduce a unified and efficient Graph Multi-View (GMV) learning framework that integrates multi-view learning into GNNs to enhance robustness and efficiency. Leveraging the l…
Manipulation in cluttered environments is challenging due to spatial dependencies among objects, where an improper manipulation order can cause collisions or blocked access. Existing approaches often overlook these spatial relationships, limiting their flexibility and scalability. To address these l…
In point-line Simultaneous Localization and Mapping (SLAM) systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves using minimal parameter
Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye View (BEV), hinders its practical deployment. This paper ch…
Deep supervised models possess significant capability to assimilate extensive training data, thereby presenting an opportunity to enhance model performance through training on multiple datasets. However, conflicts arising from different label spaces among datasets may adversely affect model performa…
Monocular 3D object detection usually adopts direct or hierarchical label supervision. Recently, the distillation supervision transfers the spatial knowledge from LiDAR- or stereo-based teacher networks to monocular detectors, but remaining the domain gap. To mitigate this issue and pursue adequate…
In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird’s-eye view (BEV) semantic segmentation. Recent researchers have extensively…
Trajectory planning for unprotected left turns poses a significant challenge in autonomous driving. Reinforcement learning (RL) offers potential, but existing methods often rely on scenario-specific state representations, limiting their adaptability. This paper introduces Hierarchical Prediction-Pre…
The utilization of vector-based deep learning techniques has great prospects in the realm of autonomous driving, particularly in the domains of prediction and planning tasks. However, the application of vector-based backbones for prediction and planning tasks may lead to the occurrence of causal con…
The integration of multiple LiDAR sensors has the potential to significantly enhance odometry systems by providing comprehensive environmental measurements. However, current multiple LiDAR-inertial odometry frameworks face challenges in real-time processing due to the voluminous data generated. This…
Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point clouds provide a lightweight alternative but existing bench…
Monocular depth estimation is challenging due to its inherent ambiguity and ill-posed nature, yet it is quite important to many applications. While recent works achieve limited accuracy by designing increasingly complicated networks to extract features with limited spatial geometric cues from a sing…
Monocular 3D object detection is a low-cost but challenging task, as it requires generating accurate 3D localization solely from a single image input. Recent developed depth-assisted methods show promising results by using explicit depth maps as intermediate features, which are either precomputed by…
Existing Graph Neural Networks (GNNs) follow the message-passing mechanism that conducts information interaction among nodes iteratively. While considerable progress has been made, such node interaction paradigms still have the following limitation. First, the scalability limitation precludes the br…
The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods are developed to leverage the perspective correlation informa…
Multi-view radar-camera fused 3D object detection provides a farther detection range and more helpful features for autonomous driving, especially under adverse weather. The current radar-camera fusion methods deliver kinds of designs to fuse radar information with camera data. However, these fusion…
Monocular 3D object detection reveals an economical but challenging task in autonomous driving. Recently center-based monocular methods have developed rapidly with a great trade-off between speed and accuracy, where they usually depend on the object center's depth estimation via 2D features. However…
3D point cloud semantic segmentation is one of the fundamental tasks for environmental understanding. Although significant progress has been made in recent years, the performance of classes with few examples or few points is still far from satisfactory. In this paper, we propose a novel multi-to-sin…
Message passing is a fundamental procedure for graph neural networks in the field of graph representation learning. Based on the homophily assumption, the current message passing always aggregates features of connected nodes, such as the graph Laplacian smoothing process. However, real-world graphs…
Gait recognition plays a vital role in human identification since gait is a unique biometric feature that can be perceived at a distance. Although existing gait recognition methods can learn gait features from gait sequences in different ways, the performance of gait recognition suffers from insuffi…