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In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…

Highly automated driving requires precise models of traffic participants. Many state of the art models are currently based on machine learning techniques. Among others, the required amount of labeled data is one major challenge. An…

Human intuition allows to detect abnormal driving scenarios in situations they never experienced before. Like humans detect those abnormal situations and take countermeasures to prevent collisions, self-driving cars need anomaly detection…

An open problem in autonomous driving research is modeling human driving behavior, which is needed for the planning component of the autonomy stack, safety validation through traffic simulation, and causal inference for generating…

Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Training self-driving systems to be robust to the long-tail of driving scenarios is a critical problem. Model-based approaches leverage simulation to emulate a wide range of scenarios without putting users at risk in the real world. One…

We present an iterative active constraint learning (ACL) algorithm, within the learning from demonstrations (LfD) paradigm, which intelligently solicits informative demonstration trajectories for inferring an unknown constraint in the…

Lane-change maneuver has always been a challenging task for both manual and autonomous driving, especially in an urban setting. In particular, the uncertainty in predicting the behavior of other vehicles on the road leads to indecisive…

Simulation has long been an essential part of testing autonomous driving systems, but only recently has simulation been useful for building and training self-driving vehicles. Vehicle behavioural models are necessary to simulate the…

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

Data for training learning-enabled self-driving cars in the physical world are typically collected in a safe, normal environment. Such data distribution often engenders a strong bias towards safe driving, making self-driving cars unprepared…

Training a model-free reinforcement learning agent requires allowing the agent to sufficiently explore the environment to search for an optimal policy. In safety-constrained environments, utilizing unsupervised exploration or a non-optimal…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

Autonomous driving technology can improve traffic safety and reduce traffic accidents. In addition, it improves traffic flow, reduces congestion, saves energy and increases travel efficiency. In the relatively mature automatic driving…

Reinforcement Learning is a highly active research field with promising advancements. In the field of autonomous driving, however, often very simple scenarios are being examined. Common approaches use non-interpretable control commands as…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

Road traffic accidents remain a significant global concern, with human error, particularly distracted and impaired driving, among the leading causes. This study introduces a novel driver behaviour classification system that uses external…

Safely interacting with humans is a significant challenge for autonomous driving. The performance of this interaction depends on machine learning-based modules of an autopilot, such as perception, behavior prediction, and planning. These…