Related papers: Effect of Adaptive and Fixed Shared Steering Contr…
Guided Soft Actor-Critic (GSAC) distills knowledge from a privileged full-state teacher to a partial-observation student for autonomous driving, but uses a fixed distillation coefficient lambda regardless of the agent's uncertainty. We…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Recent advances in AI and intelligent vehicle technology hold promise to revolutionize mobility and transportation, in the form of advanced driving assistance (ADAS) interfaces. Although it is widely recognized that certain cognitive…
Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure…
Autonomous driving in complex traffic requires reasoning under uncertainty. Common approaches rely on prediction-based planning or risk-aware control, but these are typically treated in isolation, limiting their ability to capture the…
Domain adaptation is required for automated driving models to generalize well across diverse road conditions. This paper explores a training method for domain adaptation to adapt PilotNet, an end-to-end deep learning-based model, for…
The study and modeling of driver's gaze dynamics is important because, if and how the driver is monitoring the driving environment is vital for driver assistance in manual mode, for take-over requests in highly automated mode and for…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
Naturalistic driving data (NDD) can help understand drivers' reactions to each driving scenario and provide personalized context to driving behavior. However, NDD requires a high amount of manual labor to label certain driver's state and…
Lateral assistance systems are a significant part of the currently existing Advanced Driving Assistance System (ADAS). In most cases, such systems provide intermittent audio and haptic feedback rather than continuous feedback, making it…
Activation steering controls language model behavior by adding directions to internal representations at inference time, but standard residual-stream steering can fail in stateful dialogue. We identify KV-cache contamination as a key…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…
Vehicle platooning has been a promising solution for improving traffic efficiency and throughput. However, a failure in a single vehicle, including communication loss with neighboring vehicles, can significantly disrupt platoon performance…
Unexpected yaw disturbances like braking on unilaterally icy road, side wind forces and tire rupture are very difficult to handle by the driver of a road vehicle, due to his/her large panic reaction period ranging between 0.5 to 2 seconds.…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the…