5 papers
A Generalizable Physics-guided Causal Model for Trajectory Prediction in Autonomous Driving
Zhenyu Zong, Yuchen Wang, Haohong Lin +2
Trajectory prediction for traffic agents is critical for safe autonomous driving. However, achieving effective zero-shot generalization in previously unseen domains remains a signi…
ShelfGaussian: Shelf-Supervised Open-Vocabulary Gaussian-based 3D Scene Understanding
Lingjun Zhao, Yandong Luo, James Hays +1
We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-bas…
Diffusion-Denoised Hyperspectral Gaussian Splatting
Sunil Kumar Narayanan, Lingjun Zhao, Lu Gan +1
Hyperspectral imaging (HSI) has been widely used in agricultural applications for non-destructive estimation of plant nutrient composition and precise quantification of sample nutr…
GaussianFormer3D: Multi-Modal Gaussian-based Semantic Occupancy Prediction with 3D Deformable Attention
Lingjun Zhao, Sizhe Wei, James Hays +1
3D semantic occupancy prediction is essential for achieving safe, reliable autonomous driving and robotic navigation. Compared to camera-only perception systems, multi-modal pipeli…
Morphological-Symmetry-Equivariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning
Fengze Xie, Sizhe Wei, Yue Song +2
We present a morphological-symmetry-equivariant heterogeneous graph neural network, namely MS-HGNN, for robotic dynamics learning, that integrates robotic kinematic structures and…