354 citations · 1.1k across the 115 of their papers we have counts for
10 papers · 2 filters
Towards Free Data Selection with General-Purpose Models
Yichen Xie, Mingyu Ding, Masayoshi Tomizuka +1
A desirable data selection algorithm can efficiently choose the most informative samples to maximize the utility of limited annotation budgets. However, current approaches, represe…
RSRD: A Road Surface Reconstruction Dataset and Benchmark for Safe and Comfortable Autonomous Driving
Tong Zhao, Chenfeng Xu, Mingyu Ding +3
This paper addresses the growing demands for safety and comfort in intelligent robot systems, particularly autonomous vehicles, where road conditions play a pivotal role in overall…
Pre-training on Synthetic Driving Data for Trajectory Prediction
Yiheng Li, Seth Z. Zhao, Chenfeng Xu +5
Accumulating substantial volumes of real-world driving data proves pivotal in the realm of trajectory forecasting for autonomous driving. Given the heavy reliance of current trajec…
DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds
Chensheng Peng, Guangming Wang, Xian Wan Lo +5
Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods…
NeRF-Det: Learning Geometry-Aware Volumetric Representation for Multi-View 3D Object Detection
Chenfeng Xu, Bichen Wu, Ji Hou +8
We present NeRF-Det, a novel method for indoor 3D detection with posed RGB images as input. Unlike existing indoor 3D detection methods that struggle to model scene geometry, our m…
An Efficient General-Purpose Modular Vision Model via Multi-Task Heterogeneous Training
Zitian Chen, Mingyu Ding, Yikang Shen +4
We present a model that can perform multiple vision tasks and can be adapted to other downstream tasks efficiently. Despite considerable progress in multi-task learning, most effor…
SparseFusion: Fusing Multi-Modal Sparse Representations for Multi-Sensor 3D Object Detection
Yichen Xie, Chenfeng Xu, Marie-Julie Rakotosaona +5
By identifying four important components of existing LiDAR-camera 3D object detection methods (LiDAR and camera candidates, transformation, and fusion outputs), we observe that all…
Quadric Representations for LiDAR Odometry, Mapping and Localization
Chao Xia, Chenfeng Xu, Patrick Rim +5
Current LiDAR odometry, mapping and localization methods leverage point-wise representations of 3D scenes and achieve high accuracy in autonomous driving tasks. However, the space-…
Active Finetuning: Exploiting Annotation Budget in the Pretraining-Finetuning Paradigm
Yichen Xie, Han Lu, Junchi Yan +3
Given the large-scale data and the high annotation cost, pretraining-finetuning becomes a popular paradigm in multiple computer vision tasks. Previous research has covered both the…
UniAdapter: Unified Parameter-Efficient Transfer Learning for Cross-modal Modeling
Haoyu Lu, Yuqi Huo, Guoxing Yang +4
Large-scale vision-language pre-trained models have shown promising transferability to various downstream tasks. As the size of these foundation models and the number of downstream…