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Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Current deep learning based autonomous driving approaches yield impressive results also leading to in-production deployment in certain controlled scenarios. One of the most popular and fascinating approaches relies on learning vehicle…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

End-to-end autonomous driving has great potential in the transportation industry. However, the lack of transparency and interpretability of the automatic decision-making process hinders its industrial adoption in practice. There have been…

We propose a novel knowledge distillation framework for effectively teaching a sensorimotor student agent to drive from the supervision of a privileged teacher agent. Current distillation for sensorimotor agents methods tend to result in…

Autonomous driving relies on a huge volume of real-world data to be labeled to high precision. Alternative solutions seek to exploit driving simulators that can generate large amounts of labeled data with a plethora of content variations.…

The objective of this paper is to develop a sample efficient end-to-end deep learning method for self-driving cars, where we attempt to increase the value of the information extracted from samples, through careful analysis obtained from…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

End-to-end differentiable learning for autonomous driving (AD) has recently become a prominent paradigm. One main bottleneck lies in its voracious appetite for high-quality labeled data e.g. 3D bounding boxes and semantic segmentation,…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

End-to-end autonomous driving has achieved remarkable advancements in recent years. Existing methods primarily follow a perception-planning paradigm, where perception and planning are executed sequentially within a fully differentiable…

This Paper proposes a novel Transformer-based end-to-end autonomous driving model named Detrive. This model solves the problem that the past end-to-end models cannot detect the position and size of traffic participants. Detrive uses an…

Autonomous vehicles demand high accuracy and robustness of perception algorithms. To develop efficient and scalable perception algorithms, the maximum information should be extracted from the available sensor data. In this work, we present…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

We present a learning-based planner that aims to robustly drive a vehicle by mimicking human drivers' driving behavior. We leverage a mid-to-mid approach that allows us to manipulate the input to our imitation learning network freely. With…

End-to-end autonomous driving has been recently seen rapid development, exerting a profound influence on both industry and academia. However, the existing work places excessive focus on ego-vehicle status as their sole learning objectives…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Optical sensors and learning algorithms for autonomous vehicles have dramatically advanced in the past few years. Nonetheless, the reliability of today's autonomous vehicles is hindered by the limited line-of-sight sensing capability and…