9 papers
EnerGS: Energy-Based Gaussian Splatting with Partial Geometric Priors
Rui Song, Tianhui Cai, Markus Gross +5
3D Gaussian Splatting (3DGS) has been widely adopted for scene reconstruction, where training inherently constitutes a highly coupled and non-convex optimization problem. Recent wo…
MDG: Masked Denoising Generation for Multi-Agent Behavior Modeling in Traffic Environments
Zhiyu Huang, Zewei Zhou, Tianhui Cai +2
Modeling realistic and interactive multi-agent behavior is critical to autonomous driving and traffic simulation. However, existing diffusion and autoregressive approaches are limi…
MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detection
Yun Zhang, Zhaoliang Zheng, Johnson Liu +5
Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existi…
TurboTrain: Towards Efficient and Balanced Multi-Task Learning for Multi-Agent Perception and Prediction
Zewei Zhou, Seth Z. Zhao, Tianhui Cai +3
End-to-end training of multi-agent systems offers significant advantages in improving multi-task performance. However, training such models remains challenging and requires extensi…
RelMap: Enhancing Online Map Construction with Class-Aware Spatial Relation and Semantic Priors
Tianhui Cai, Yun Zhang, Zewei Zhou +2
Online high-definition (HD) map construction is crucial for scaling autonomous driving systems. While Transformer-based methods have become prevalent in online HD map construction,…
AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuning
Zewei Zhou, Tianhui Cai, Seth Z. Zhao +4
Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, c…