11 papers
Thinker-WM: A Unified World Model with Shared Multimodal Representations for Embodied Intelligence
Thinker Team, Peng Gao, Jichao Jiao +8
World models have emerged as a promising paradigm for embodied AI, yet existing systems often remain fragmented in the modalities they model and the functions they support. In part…
SCORP: Scene-Consistent Multi-agent Diffusion Planning with Stable Online Reinforcement Post-Training for Cooperative Driving
Haojie Bai, Aimin Li, Ruoyu Yao +5
Cooperative driving is a safety- and efficiency-critical task that requires the coordination of diverse, interaction-realistic multi-agent trajectories. Although existing diffusion…
OMUDA: Omni-level Masking for Unsupervised Domain Adaptation in Semantic Segmentation
Yang Ou, Xiongwei Zhao, Xinye Yang +5
Unsupervised domain adaptation (UDA) enables semantic segmentation models to generalize from a labeled source domain to an unlabeled target domain. However, existing UDA methods st…
V2X-RECT: An Efficient V2X Trajectory Prediction Framework via Redundant Interaction Filtering and Tracking Error Correction
Xiangyan Kong, Xuecheng Wu, Xiongwei Zhao +7
V2X prediction can alleviate perception incompleteness caused by limited line of sight through fusing trajectory data from infrastructure and vehicles, which is crucial to traffic…
A Robust Cooperative Vehicle Coordination Framework for Intersection Crossing
Haojie Bai, Jiping Luo, Huafu Li +2
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantage…
Robust Real-Time Coordination of CAVs: A Distributed Optimization Framework under Uncertainty
Haojie Bai, Tingting Zhang, Cong Guo +3
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments.…
An Iterative Task-Driven Framework for Resilient LiDAR Place Recognition in Adverse Weather
Xiongwei Zhao, Xieyuanli Chen, Xu Zhu +5
LiDAR place recognition (LPR) plays a vital role in autonomous navigation. However, existing LPR methods struggle to maintain robustness under adverse weather conditions such as ra…
UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation
Yehui Shen, Lei Zhang, Qingqiu Li +4
Visual place recognition (VPR) is crucial for robots to identify previously visited locations, playing an important role in autonomous navigation in both indoor and outdoor environ…
DART: Dual-level Autonomous Robotic Topology for Efficient Exploration in Unknown Environments
Qiming Wang, Yulong Gao, Yang Wang +3
Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the re…
ResLPR: A LiDAR Data Restoration Network and Benchmark for Robust Place Recognition Against Weather Corruptions
Wenqing Kuang, Xiongwei Zhao, Yehui Shen +4
LiDAR-based place recognition (LPR) is a key component for autonomous driving, and its resilience to environmental corruption is critical for safety in high-stakes applications. Wh…
TripleMixer: A 3D Point Cloud Denoising Model for Adverse Weather
Xiongwei Zhao, Congcong Wen, Xu Zhu +3
Adverse weather conditions such as snow, fog, and rain pose significant challenges to LiDAR-based perception models by introducing noise and corrupting point cloud measurements. To…