85 citations · 116 across the 12 of their papers we have counts for
12 papers · 1 filter
STELLAR: Scaling 3D Perception Large Models for Autonomous Driving
Yingwei Li, Xin Huang, Yang Liu +13
Model scaling has demonstrated remarkable success through large-scale training on diverse datasets. It remains an open question whether the same paradigm would apply to autonomous…
S4-Driver: Scalable Self-Supervised Driving Multimodal Large Language Modelwith Spatio-Temporal Visual Representation
Yichen Xie, Runsheng Xu, Tong He +9
The latest advancements in multi-modal large language models (MLLMs) have spurred a strong renewed interest in end-to-end motion planning approaches for autonomous driving. Many en…
PVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection
Zhaoqi Leng, Pei Sun, Tong He +2
3D object detectors for point clouds often rely on a pooling-based PointNet to encode sparse points into grid-like voxels or pillars. In this paper, we identify that the common Poi…
LEF: Late-to-Early Temporal Fusion for LiDAR 3D Object Detection
Tong He, Pei Sun, Zhaoqi Leng +3
We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings i…
WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting
Kan Chen, Runzhou Ge, Hang Qiu +12
Widely adopted motion forecasting datasets substitute the observed sensory inputs with higher-level abstractions such as 3D boxes and polylines. These sparse shapes are inferred th…
LidarAugment: Searching for Scalable 3D LiDAR Data Augmentations
Zhaoqi Leng, Guowang Li, Chenxi Liu +5
Data augmentations are important in training high-performance 3D object detectors for point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly…
PseudoAugment: Learning to Use Unlabeled Data for Data Augmentation in Point Clouds
Zhaoqi Leng, Shuyang Cheng, Benjamin Caine +5
Data augmentation is an important technique to improve data efficiency and save labeling cost for 3D detection in point clouds. Yet, existing augmentation policies have so far been…
SWFormer: Sparse Window Transformer for 3D Object Detection in Point Clouds
Pei Sun, Mingxing Tan, Weiyue Wang +4
3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse na…
LidarNAS: Unifying and Searching Neural Architectures for 3D Point Clouds
Chenxi Liu, Zhaoqi Leng, Pei Sun +5
Developing neural models that accurately understand objects in 3D point clouds is essential for the success of robotics and autonomous driving. However, arguably due to the higher-…
Multi-Class 3D Object Detection with Single-Class Supervision
Mao Ye, Chenxi Liu, Maoqing Yao +4
While multi-class 3D detectors are needed in many robotics applications, training them with fully labeled datasets can be expensive in labeling cost. An alternative approach is to…
PolyLoss: A Polynomial Expansion Perspective of Classification Loss Functions
Zhaoqi Leng, Mingxing Tan, Chenxi Liu +4
Cross-entropy loss and focal loss are the most common choices when training deep neural networks for classification problems. Generally speaking, however, a good loss function can…
Improving 3D Object Detection through Progressive Population Based Augmentation
Shuyang Cheng, Zhaoqi Leng, Ekin Dogus Cubuk +10
Data augmentation has been widely adopted for object detection in 3D point clouds. However, all previous related efforts have focused on manually designing specific data augmentati…