6 papers · 1 filter
MoRE: Motion-Regularized Encoding for Articulated 3D Generation
Guantian Zheng, Shan Jin, Tim Tso +1
Generating an articulated object from a single image requires recovering both its appearance and the mechanism governing its parts. A compact encoding of joint attributes does not…
Hyper^2: Unleashing Hyperbolic Geometry's Full Potential via Dual-Space Consistency
Guantian Zheng, Haiyang Xu, Tianyu Gao
HyperbolicCD pioneered hyperbolic geometry for point cloud completion by replacing the Euclidean Chamfer distance with arcosh(1+alpha||x-y||^2), but the reported gains are modest (…
Unified Map Prior Encoder for Mapping and Planning
Zongzheng Zhang, Sizhe Zou, Guantian Zheng +12
Online mapping and end-to-end (E2E) planning in autonomous driving remain largely sensor-centric, leaving rich map priors, including HD/SD vector maps, rasterized SD maps, and sate…
DriveCombo: Benchmarking Compositional Traffic Rule Reasoning in Autonomous Driving
Enhui Ma, Jiahuan Zhang, Guantian Zheng +10
Multimodal Large Language Models (MLLMs) are rapidly becoming the intelligence brain of end-to-end autonomous driving systems. A key challenge is to assess whether MLLMs can truly…
Delving into Mapping Uncertainty for Mapless Trajectory Prediction
Zongzheng Zhang, Xuchong Qiu, Boran Zhang +11
Recent advances in autonomous driving are moving towards mapless approaches, where High-Definition (HD) maps are generated online directly from sensor data, reducing the need for e…
Chameleon: Fast-slow Neuro-symbolic Lane Topology Extraction
Zongzheng Zhang, Xinrun Li, Sizhe Zou +8
Lane topology extraction involves detecting lanes and traffic elements and determining their relationships, a key perception task for mapless autonomous driving. This task requires…