6 papers
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning
Taowen Wang, Zikang Xie, Bin Yang +13
Humanoid robots promise whole-body interaction in human-centered environments, but scalable policy learning remains difficult because task-level decision-making and whole-body dyna…
Morphology-Consistent Humanoid Interaction through Robot-Centric Video Synthesis
Weisheng Xu, Jian Li, Yi Gu +12
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-bas…
Uncertainty Matters: Structured Probabilistic Online Mapping for Motion Prediction in Autonomous Driving
Pritom Gogoi, Faris Janjoš, Bin Yang +1
Online map generation and trajectory prediction are critical components of the autonomous driving perception-prediction-planning pipeline. While modern vectorized mapping models ac…
GroupEnsemble: Efficient Uncertainty Estimation for DETR-based Object Detection
Yutong Yang, Katarina Popović, Julian Wiederer +3
Detection Transformer (DETR) and its variants show strong performance on object detection, a key task for autonomous systems. However, a critical limitation of these models is that…
Class-Aware PillarMix: Can Mixed Sample Data Augmentation Enhance 3D Object Detection with Radar Point Clouds?
Miao Zhang, Sherif Abdulatif, Benedikt Loesch +2
Due to the significant effort required for data collection and annotation in 3D perception tasks, mixed sample data augmentation (MSDA) has been widely studied to generate diverse…
Exploring Domain Shift on Radar-Based 3D Object Detection Amidst Diverse Environmental Conditions
Miao Zhang, Sherif Abdulatif, Benedikt Loesch +3
The rapid evolution of deep learning and its integration with autonomous driving systems have led to substantial advancements in 3D perception using multimodal sensors. Notably, ra…