GaussianFusion: Gaussian-Based Multi-Sensor Fusion for End-to-End Autonomous Driving

Self-supervised depth estimation has become crucial in fields like autonomous driving and robotics. However, existing methods struggle in adverse weather conditions, leading to performance degradation. To tackle this, a new framework called SEC-Depth is proposed, which utilizes intermediate training parameters to create evolving latency models. This approach aims to enhance depth estimation robustness under challenging conditions through a self-evolution contrastive learning scheme.

The paper 'Gaussian Mapping for Evolving Scenes' introduces a dynamic scene-adaptation mechanism that enhances 3D Gaussian Splatting (3DGS) for applications in computer vision, augmented reality, robotics, and autonomous driving. This mechanism continuously updates 3DGS to reflect changes in evolving scenes, addressing the limitations of existing methods that primarily focus on static scenes. A novel keyframe management system is proposed to discard outdated observations while retaining essential information.

The paper titled 'Scriboora: Rethinking Human Pose Forecasting' evaluates various algorithms for predicting human poses based on past observations. It highlights reproducibility issues and introduces a unified training and evaluation pipeline. The study demonstrates that recent speech models can be adapted to enhance pose forecasting performance, and assesses model robustness using noisy joint coordinates to better reflect real-world applications.

The paper presents a novel physical adversarial attack targeting stereo matching models used in autonomous driving. Unlike traditional attacks that utilize 2D patches, this approach employs a 3D physical adversarial example (PAE) with global camouflage texture, enhancing visual consistency across various viewpoints. Additionally, a new 3D stereo matching rendering module is introduced to align the PAE with real-world positions in binocular vision, addressing the disparity effects of stereo cameras.

Backdoor attacks represent a significant risk to deep learning, particularly in critical 3D applications like autonomous driving and robotics. Current methods primarily focus on static one-to-one attacks, leaving the more versatile one-to-N backdoor threat largely unaddressed. The introduction of STONE (Spherical Trigger One-to-N Backdoor Enabling) marks a pivotal advancement, offering a configurable spherical trigger that can manipulate multiple output labels while maintaining high accuracy in clean data.

The paper introduces Risk Semantic Distillation (RSD), a novel framework aimed at enhancing end-to-end autonomous driving (AD) systems. While current AD systems perform well in complex scenarios, they struggle with generalization to unseen situations. RSD leverages Vision-Language Models (VLMs) to improve training efficiency and consistency in trajectory planning, addressing challenges posed by hybrid AD systems that utilize multiple planning approaches. This advancement is crucial for the future of autonomous driving technology.

Recent advancements in autonomous driving have investigated the application of vision-language models (VLMs) in visual question answering (VQA) frameworks for driving decision-making. However, these methods often rely on handcrafted prompts and exhibit inconsistent performance, which hampers their effectiveness in real-world scenarios. This study assesses state-of-the-art open-source VLMs on high-level decision-making tasks using ego-view visual inputs, revealing significant limitations in their ability to provide reliable, context-aware decisions.

The article discusses the growing interest in world models, particularly in the context of advancements in multimodal large language models like GPT-4 and video generation models such as Sora. It provides a comprehensive review of the literature on world models, which serve to either understand the current state of the world or predict future dynamics. The review categorizes world models based on their functions: constructing internal representations and predicting future states, with applications in generative games, autonomous driving, robotics, and social simulacra.