no code implementations • 10 Nov 2023 • Zhide Zhong, Jiakai Cao, Songen Gu, Sirui Xie, Weibo Gao, Liyi Luo, Zike Yan, Hao Zhao, Guyue Zhou
We present ASSIST, an object-wise neural radiance field as a panoptic representation for compositional and realistic simulation.
1 code implementation • 22 Sep 2023 • Xiaoxue Chen, Junchen Liu, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
In this paper, we introduce the refractive-reflective field.
no code implementations • 22 Sep 2023 • Haoyi Niu, Tianying Ji, Bingqi Liu, Haocheng Zhao, Xiangyu Zhu, Jianying Zheng, Pengfei Huang, Guyue Zhou, Jianming Hu, Xianyuan Zhan
Solving real-world complex tasks using reinforcement learning (RL) without high-fidelity simulation environments or large amounts of offline data can be quite challenging.
1 code implementation • ICCV 2023 • Chengliang Zhong, Yuhang Zheng, Yupeng Zheng, Hao Zhao, Li Yi, Xiaodong Mu, Ling Wang, Pengfei Li, Guyue Zhou, Chao Yang, Xinliang Zhang, Jian Zhao
To address this issue, the Transporter method was introduced for 2D data, which reconstructs the target frame from the source frame to incorporate both spatial and temporal information.
1 code implementation • 6 Aug 2023 • Shaocong Xu, Xiaoxue Chen, Yuhang Zheng, Guyue Zhou, Yurong Chen, Hongbin Zha, Hao Zhao
To address these three issues, we propose a two-stage transformer-based network sequentially predicting generic edges and fine-grained edges, which has a global receptive field thanks to the attention mechanism.
1 code implementation • 26 Jul 2023 • Tianyu Liu, Hao Zhao, Yang Yu, Guyue Zhou, Ming Liu
However, previous studies learned within a sequence of autonomous driving datasets, resulting in unsatisfactory blurring when rotating the car in the simulator.
1 code implementation • ICCV 2023 • Huan-ang Gao, Beiwen Tian, Pengfei Li, Hao Zhao, Guyue Zhou
While this paradigm is natural for image-level or pixel-level prediction, adapting it to the detection problem is challenged by the issue of proposal matching.
1 code implementation • CVPR 2023 • Xinyu Liu, Beiwen Tian, Zhen Wang, Rui Wang, Kehua Sheng, Bo Zhang, Hao Zhao, Guyue Zhou
Thanks to the impressive progress of large-scale vision-language pretraining, recent recognition models can classify arbitrary objects in a zero-shot and open-set manner, with a surprisingly high accuracy.
1 code implementation • 17 Apr 2023 • Leiyao Cui, Xiaoxue Chen, Hao Zhao, Guyue Zhou, Yixin Zhu
By label affinity, we refer to affordance segmentation as a multi-label prediction problem: A plate can be both holdable and containable.
1 code implementation • CVPR 2023 • Xiaoxue Chen, Yuhang Zheng, Yupeng Zheng, Qiang Zhou, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
We showcase the effectiveness of DPFs using two substantially different tasks: high-level semantic parsing and low-level intrinsic image decomposition.
1 code implementation • 27 Feb 2023 • Pengfei Li, Ruowen Zhao, Yongliang Shi, Hao Zhao, Jirui Yuan, Guyue Zhou, Ya-Qin Zhang
In this paper, we propose a novel Eikonal formulation that conditions the implicit representation on localized shape priors which function as dense boundary value constraints, and demonstrate it works on SemanticKITTI and SemanticPOSS.
1 code implementation • 2 Feb 2023 • Yupeng Zheng, Chengliang Zhong, Pengfei Li, Huan-ang Gao, Yuhang Zheng, Bu Jin, Ling Wang, Hao Zhao, Guyue Zhou, Qichao Zhang, Dongbin Zhao
By fitting a bridge-shaped curve to the illumination map distribution, both regions are suppressed and two tasks are bridged naturally.
1 code implementation • 1 Feb 2023 • Bu Jin, Xinyu Liu, Yupeng Zheng, Pengfei Li, Hao Zhao, Tong Zhang, Yuhang Zheng, Guyue Zhou, Jingjing Liu
To bridge the gap, we propose an end-to-end transformer-based architecture, ADAPT (Action-aware Driving cAPtion Transformer), which provides user-friendly natural language narrations and reasoning for each decision making step of autonomous vehicular control and action.
1 code implementation • 31 Jan 2023 • Huan-ang Gao, Beiwen Tian, Pengfei Li, Xiaoxue Chen, Hao Zhao, Guyue Zhou, Yurong Chen, Hongbin Zha
But adapting this scheme to the state-of-the-art (SOTA) solution for PC-based layout estimation is not straightforward.
no code implementations • 30 Jan 2023 • Yuan Zhang, Joschka Boedecker, Chuxuan Li, Guyue Zhou
Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique.
1 code implementation • ICCV 2023 • Zhijie Yan, Pengfei Li, Zheng Fu, Shaocong Xu, Yongliang Shi, Xiaoxue Chen, Yuhang Zheng, Yang Li, Tianyu Liu, Chuxuan Li, Nairui Luo, Xu Gao, Yilun Chen, Zuoxu Wang, Yifeng Shi, Pengfei Huang, Zhengxiao Han, Jirui Yuan, Jiangtao Gong, Guyue Zhou, Hang Zhao, Hao Zhao
One of the most challenging problems in motion forecasting is interactive trajectory prediction, whose goal is to jointly forecasts the future trajectories of interacting agents.
no code implementations • 14 Nov 2022 • Zirui Wu, Yuantao Chen, Runyi Yang, Zhenxin Zhu, Chao Hou, Yongliang Shi, Hao Zhao, Guyue Zhou
Large-scale radiance fields are promising mapping tools for smart transportation applications like autonomous driving or drone delivery.
1 code implementation • 20 Oct 2022 • Beiwen Tian, Liyi Luo, Hao Zhao, Guyue Zhou
In the first stage, we perform self-supervised representation learning on unlabeled points with the proposed Viewpoint Bottleneck loss function.
1 code implementation • 19 Oct 2022 • Pengfei Li, Beiwen Tian, Yongliang Shi, Xiaoxue Chen, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
As such, we study the challenging problem of task oriented detection, which aims to find objects that best afford an action indicated by verbs like sit comfortably on.
no code implementations • 17 Oct 2022 • Longrui Chen, Yan Zhang, Wenjie Jiang, Jiangtao Gong, Jiahao Shen, Mengdi Chu, Chuxuan Li, Yifeng Pan, Yifeng Shi, Nairui Luo, Xu Gao, Jirui Yuan, Guyue Zhou, Yaqin Zhang
This paper proposes a high-fidelity simulation framework that can estimate the potential safety benefits of vehicle-to-infrastructure (V2I) pedestrian safety strategies.
1 code implementation • 11 Oct 2022 • Yang Li, Xiaoxue Chen, Hao Zhao, Jiangtao Gong, Guyue Zhou, Federico Rossano, Yixin Zhu
Human studies have revealed that objects referred to or pointed to do not lie on the elbow-wrist line, a common misconception; instead, they lie on the so-called virtual touch line.
1 code implementation • 11 Oct 2022 • Lin Ma, Jiangtao Gong, Hao Xu, Hao Chen, Hao Zhao, Wenbing Huang, Guyue Zhou
In this paper, we present a graph-transformer based framework for the ASP problem which is trained and demonstrated on a self-collected ASP database.
no code implementations • 28 Sep 2022 • Yongliang Shi, Runyi Yang, Pengfei Li, Zirui Wu, Hao Zhao, Guyue Zhou
Neural implicit representations are drawing a lot of attention from the robotics community recently, as they are expressive, continuous and compact.
1 code implementation • 18 Sep 2022 • Zhenxin Zhu, Yuantao Chen, Zirui Wu, Chao Hou, Yongliang Shi, Chuxuan Li, Pengfei Li, Hao Zhao, Guyue Zhou
In this paper, we present LATITUDE: Global Localization with Truncated Dynamic Low-pass Filter, which introduces a two-stage localization mechanism in city-scale NeRF.
1 code implementation • 23 Aug 2022 • Yang Li, Yucheng Tu, Xiaoxue Chen, Hao Zhao, Guyue Zhou
In this work, (1) we propose a novel three-decoder architecture as the infrastructure for focused attention; 2) we use the generalized intersection box prediction task to effectively guide our model to focus on occlusion-specific regions; 3) our model achieves a new state-of-the-art performance on distance-aware relationship detection.
Human-Object Interaction Detection
Relationship Detection
+1
1 code implementation • 16 Aug 2022 • Bu Jin, Beiwen Tian, Hao Zhao, Guyue Zhou
We address the new problem of language-guided semantic style transfer of 3D indoor scenes.
no code implementations • 1 Jul 2022 • Wenjia Zhang, Haoran Xu, Haoyi Niu, Peng Cheng, Ming Li, Heming Zhang, Guyue Zhou, Xianyuan Zhan
In this paper, we propose the Discriminator-guided Model-based offline Imitation Learning (DMIL) framework, which introduces a discriminator to simultaneously distinguish the dynamics correctness and suboptimality of model rollout data against real expert demonstrations.
1 code implementation • 27 Jun 2022 • Haoyi Niu, Shubham Sharma, Yiwen Qiu, Ming Li, Guyue Zhou, Jianming Hu, Xianyuan Zhan
This brings up a new question: is it possible to combine learning from limited real data in offline RL and unrestricted exploration through imperfect simulators in online RL to address the drawbacks of both approaches?
1 code implementation • 3 Jun 2022 • Chengliang Zhong, Peixing You, Xiaoxue Chen, Hao Zhao, Fuchun Sun, Guyue Zhou, Xiaodong Mu, Chuang Gan, Wenbing Huang
Detecting 3D keypoints from point clouds is important for shape reconstruction, while this work investigates the dual question: can shape reconstruction benefit 3D keypoint detection?
1 code implementation • 29 Nov 2021 • Pengfei Li, Yongliang Shi, Tianyu Liu, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
Recent advances show that semi-supervised implicit representation learning can be achieved through physical constraints like Eikonal equations.
1 code implementation • CVPR 2022 • Xiaoxue Chen, Tianyu Liu, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
Multi-task indoor scene understanding is widely considered as an intriguing formulation, as the affinity of different tasks may lead to improved performance.
Ranked #47 on
Semantic Segmentation
on NYU Depth v2
2 code implementations • 22 Oct 2021 • Guan Wang, Haoyi Niu, Desheng Zhu, Jianming Hu, Xianyuan Zhan, Guyue Zhou
Heated debates continue over the best autonomous driving framework.
no code implementations • 21 Oct 2021 • Jin Li, Xianyuan Zhan, Zixu Xiao, Guyue Zhou
End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics.
1 code implementation • 17 Sep 2021 • Liyi Luo, Beiwen Tian, Hao Zhao, Guyue Zhou
Semantic understanding of 3D point clouds is important for various robotics applications.
1 code implementation • 12 Sep 2021 • Xiaoxue Chen, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
Such a scheme has two limitations: 1) Storing and running several networks for different tasks are expensive for typical robotic platforms.
no code implementations • 18 Sep 2017 • Lei Han, Guyue Zhou, Lan Xu, Lu Fang
The proposed system originates from our previous work Multi-Index hashing for Loop closure Detection (MILD), which employs Multi-Index Hashing (MIH)~\cite{greene1994multi} for Approximate Nearest Neighbor (ANN) search of binary features.
no code implementations • 29 Oct 2016 • Lan Xu, Lu Fang, Wei Cheng, Kaiwen Guo, Guyue Zhou, Qionghai Dai, Yebin Liu
We propose a novel non-rigid surface registration method to track and fuse the depth of the three flying cameras for surface motion tracking of the moving target, and simultaneously calculate the pose of each flying camera.
no code implementations • 6 Oct 2016 • Ziwei Xu, Haitian Zheng, Minjian Pang, Yangchun Zhu, Xiongfei Su, Guyue Zhou, Lu Fang
Towards robust and convenient indoor shopping mall navigation, we propose a novel learning-based scheme to utilize the high-level visual information from the storefront images captured by personal devices of users.