ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation

no code implementations • 25 Mar 2025 • Haoyu Fu, Diankun Zhang, Zongchuang Zhao, Jianfeng Cui, Dingkang Liang, Chong Zhang, Dingyuan Zhang, Hongwei Xie, Bing Wang, Xiang Bai

However, the problem is still open that few VLMs for E2E methods perform well in the closed-loop evaluation due to the gap between the semantic reasoning space and the purely numerical trajectory output in the action space.

Action Generation Bench2Drive +4

SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Driving

no code implementations • 10 Apr 2024 • Diankun Zhang, Guoan Wang, Runwen Zhu, Jianbo Zhao, Xiwu Chen, Siyu Zhang, Jiahao Gong, Qibin Zhou, Wenyuan Zhang, Ningzi Wang, Feiyang Tan, Hangning Zhou, Ziyao Xu, Haotian Yao, Chi Zhang, Xiaojun Liu, Xiaoguang Di, Bin Li

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system.

3D Multi-Object Tracking 3D Object Detection +2

PillarNeSt: Embracing Backbone Scaling and Pretraining for Pillar-based 3D Object Detection

no code implementations • 29 Nov 2023 • Weixin Mao, Tiancai Wang, Diankun Zhang, Junjie Yan, Osamu Yoshie

Pillar-based methods mainly employ randomly initialized 2D convolution neural network (ConvNet) for feature extraction and fail to enjoy the benefits from the backbone scaling and pretraining in the image domain.

3D Object Detection object-detection

Structure Information is the Key: Self-Attention RoI Feature Extractor in 3D Object Detection

no code implementations • 1 Nov 2021 • Diankun Zhang, Zhijie Zheng, Xueting Bi, Xiaojun Liu

With the newly introduced SARFE, we improve the performance of the state-of-the-art 3D detectors by a large margin in cyclist on KITTI dataset while keeping real-time capability.

3D Object Detection Object +2