36 accepted papers
For effective deployment in real-world environments, humanoid robots must autonomously navigate a diverse range of complex terrains with abrupt transitions. While the Vanilla mixture of experts (MoE) framework is theoretically capable of modeling diverse terrain features, in practice, the gating net…
Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical context that enhances local perception. This is particularly imp…
Robotic manipulation from visual observations remains challenging due to the lack of 3D consistent representations that can generalize across diverse viewpoints and sensor configurations. Existing approaches often rely on masked autoencoders or neural scene representations, which fail to capture cro
Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face safety risks due to the lack of explicit behavior constraints.…
In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust pose estimation models. This is largely attributed to the inher…
Monocular 3D Gaussian Splatting SLAM suffers from critical limitations in time efficiency, geometric accuracy, and multi-view consistency. These issues stem from the time-consuming $\textit{Train-from-Scratch}$ optimization and the lack of inter-frame scale consistency from single-frame geometry pri…
Modern robotic policies increasingly rely on action chunking to execute complex tasks in the physical world. While action chunking improves temporal consistency at moderate action frequencies, it becomes insufficient when the action frequency is further increased (e.g., to 60~Hz). At such high frequ…
Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate trajectories under high occlusion uncertainty. To address these
Scene understanding via multi-modal large language models and scene forecasting with world models have advanced the development of autonomous driving. The former maps visual inputs to driving-specific outputs, neglecting spatial reasoning and world dynamics. The latter captures world dynamics, lacki…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual robots, bridging the gap to physically coupled multi-humanoid in…
Although Vision Language Models (VLMs) have excelled at image and video understanding, applying them to hour-long videos is held back by two interrelated challenges: exorbitant computational expense and a qualitative breakdown in long-term temporal reasoning. Thus, models tend to generate answers ba
Recent progress in feed-forward 3D Gaussian Splatting (3DGS) has notably improved rendering quality. However, the spatially uniform and highly redundant 3DGS map generated by previous feed-forward 3DGS methods limits their integration into downstream reconstruction tasks. We propose SparseSplat, the
Global navigation information and local scene understanding are two crucial components of autonomous driving systems. However, our experimental results indicate that many end-to-end autonomous driving systems tend to over-rely on local scene understanding while failing to utilize global navigation i…
VINGS-Mono is a monocular inertial Gaussian Splatting (GS) SLAM framework designed for large-scale scenes. It integrates four main components: VIO Front End, 2D Gaussian Map, NVS Loop Closure, and Dynamic Eraser. The VIO Front End processes RGB frames with dense bundle adjustment and uncertainty est…
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera. In this paper, we propose VistaBot, a novel framework that …
Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face safety risks due to the lack of explicit behavior constraints.
Automatic Emergency Braking (AEB) systems are a crucial component in ensuring the safety of passengers in autonomous vehicles. Conventional AEB systems primarily rely on closed-set perception modules to recognize traffic conditions and assess collision risks. To enhance the adaptability of AEB syste
In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust pose estimation models. This is largely attributed to the inher
Occupancy prediction provides critical geometric and semantic understanding for robotics but faces efficiency-accuracy trade-offs. Current dense methods suffer computational waste on empty voxels, while sparse query-based approaches lack robustness in diverse and complex indoor scenes. In this paper
In complex missions such as search and rescue, robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances situational awareness and is crucial for intelligent robotics. Tra
Trajectory optimization in multi-vehicle scenarios faces challenges due to its non-linear, non-convex properties and sensitivity to initial values, making interactions between vehicles difficult to control. In this paper, inspired by topological planning, we propose a differentiable local homotopy i
Point clouds have shown significant potential in various domains, including Simultaneous Localization and Mapping (SLAM). However, existing approaches either rely on dense point clouds to achieve high localization accuracy or use generalized descriptors to reduce map size. Unfortunately, these two a…
Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in dense mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet online requirements. 3D Gaussian Splatting (3DGS), with
In the era of big data and large models, automatic annotating functions for multi-modal data are of great significance for real-world AI-driven applications, such as autonomous driving and embodied AI. Unlike traditional closed-set annotation, open-vocabulary annotation is essential to achieve human…
Online dense mapping of urban scenes is of paramount importance for scene understanding of autonomous navigation. Traditional online dense mapping methods fuse sensor measurements (vision, lidar, etc.) across time and space via explicit geometric correspondence. Recently, NeRF-based methods have pro…
There is extensive literature on perceiving road structures by fusing various sensor inputs such as lidar point clouds and camera images using deep neural nets. Leveraging the latest advance of neural architects (such as transformers) and bird-eye-view (BEV) representation, the road cognition accura…
An accurate road topological structure is of great importance for autonomous driving in complex urban environments. Currently, most autonomous vehicles highly rely on the High-Definition map (HD map) to cruise across the city. Without the prior map, it's hard for vehicles to find right-turning and l
Predicting the future trajectories of on-road vehicles is critical for autonomous driving. In this paper, we introduce a novel prediction framework called PRIME, which stands for Prediction with Model-based Planning. Unlike recent prediction works that utilize neural networks to model scene context…
Decision-making in dense traffic scenarios is challenging for automated vehicles (AVs) due to potentially stochastic behaviors of other traffic participants and perception uncertainties (e.g., tracking noise and prediction errors, etc.). Although the partially observable Markov decision process (POM…
It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challenging due to the interaction and uncertainty in driving behaviors. We propose planning-informed trajectory prediction (PiP)…
In this paper, we present an online two-level vehicle trajectory prediction framework for urban autonomous driving where there are complex contextual factors, such as lane geometries, road constructions, traffic regulations and moving agents. Our method combines high-level policy anticipation with l…
Anticipating possible behaviors of traffic participants is an essential capability of autonomous vehicles. Many behavior detection and maneuver recognition methods only have a very limited prediction horizon that leaves inadequate time and space for planning. To avoid unsatisfactory reactive decisio…
Planning safe trajectories for autonomous vehicles in complex urban environments is challenging since there are numerous semantic elements (such as dynamic agents, traffic lights, and speed limits) to consider. These semantic elements may have different mathematical descriptions, such as obstacle, c
In this paper, we propose a novel mapping method for robotic navigation. High-quality dense depth maps are estimated and fused into 3D reconstructions in real-time using a single localized moving camera. The quadtree structure of the intensity image is used to reduce the computation burden by estima…
We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which transforms a position-only shortest path search (such as A…