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State-of-the-art human-in-the-loop robot grasping is hugely suffered by Electromyography (EMG) inference robustness issues. As a workaround, researchers have been looking into integrating EMG with other signals, often in an ad hoc manner.…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

This paper addresses the challenges of training end-to-end autonomous driving agents using Reinforcement Learning (RL). RL agents are typically trained in a fixed set of scenarios and nominal behavior of surrounding road users in…

Deep Reinforcement Learning (DRL) algorithms are known to be data inefficient. One reason is that a DRL agent learns both the feature and the policy tabula rasa. Integrating prior knowledge into DRL algorithms is one way to improve learning…

Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural inputs, such as lane offset and forward speed, before solving…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Traversing intersections is a challenging problem for autonomous vehicles, especially when the intersections do not have traffic control. Recently deep reinforcement learning has received massive attention due to its success in dealing with…

The skill to drift a car--i.e., operate in a state of controlled oversteer like professional drivers--could give future autonomous cars maximum flexibility when they need to retain control in adverse conditions or avoid collisions. We…

This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terrains. Addressing the difficulty of modeling unknown…

Developing an autonomous vehicle control strategy for signalised intersections (SI) is one of the challenging tasks due to its inherently complex decision-making process. This study proposes a Deep Reinforcement Learning (DRL) based…

Cognitive radars are systems that rely on learning through interactions of the radar with the surrounding environment. To realize this, radar transmit parameters can be adapted such that they facilitate some downstream task. This paper…

While video action recognition has been an active area of research for several years, zero-shot action recognition has only recently started gaining traction. In this work, we propose a novel end-to-end trained transformer model which is…

Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

While autonomous racing performance in Time-Trial scenarios has seen significant progress and development, autonomous wheel-to-wheel racing and overtaking are still severely limited. These limitations are particularly apparent in real-life…

F1Tenth is a widely adopted reduced-scale platform for developing and testing autonomous racing algorithms, hosting annual competitions worldwide. With high operating speeds, dynamic environments, and head-to-head interactions, autonomous…

We present Flex, an efficient and effective scene encoder that addresses the computational bottleneck of processing high-volume multi-camera data in end-to-end autonomous driving. Flex employs a small set of learnable scene tokens to…

Traffic accident anticipation aims to accurately and promptly predict the occurrence of a future accident from dashcam videos, which is vital for a safety-guaranteed self-driving system. To encourage an early and accurate decision, existing…

A model used for velocity control during car following was proposed based on deep reinforcement learning (RL). To fulfil the multi-objectives of car following, a reward function reflecting driving safety, efficiency, and comfort was…

Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…