Related papers: Learning to Drive Anywhere

Class-Incremental Learning (CIL) is important in building real-world learning systems. In CLIP-based CIL, the model performs classification by comparing similarity between visual and textual embeddings obtained from template prompts, e.g.,…

Modeling hierarchical latent dynamics behind time series data is critical for capturing temporal dependencies across multiple levels of abstraction in real-world tasks. However, existing temporal causal representation learning methods fail…

Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies from human demonstrations, yet its…

Class incremental learning (CIL) aims to learn a model that can not only incrementally accommodate new classes, but also maintain the learned knowledge of old classes. Out-of-distribution (OOD) detection in CIL is to retain this incremental…

Vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, while still lacking…

Deep models, e.g., CNNs and Vision Transformers, have achieved impressive achievements in many vision tasks in the closed world. However, novel classes emerge from time to time in our ever-changing world, requiring a learning system to…

Autonomous vehicles (AVs) rely on accurate trajectory prediction for safe navigation in diverse traffic environments, yet existing models struggle with long-tail scenarios-rare but safety-critical events characterized by abrupt maneuvers,…

Effectively utilizing the vast amounts of ego-centric navigation data that is freely available on the internet can advance generalized intelligent systems, i.e., to robustly scale across perspectives, platforms, environmental conditions,…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

Multi-modal learning has emerged as a key technique for improving performance across domains such as autonomous driving, robotics, and reasoning. However, in certain scenarios, particularly in resource-constrained environments, some…

Existing imitation learning methods suffer from low efficiency and generalization ability when facing the road option problem in an urban environment. In this paper, we propose a yaw-guided imitation learning method to improve the road…

Accurately simulating diverse behaviors of heterogeneous agents in various scenarios is fundamental to autonomous driving simulation. This task is challenging due to the multi-modality of behavior distribution, the high-dimensionality of…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

Efficient scalability of automated driving (AD) is key to reducing costs, enhancing safety, conserving resources, and maximizing impact. However, research focuses on specific vehicles and context, while broad deployment requires scalability…

Generating safety-critical scenarios in high-fidelity simulations offers a promising and cost-effective approach for efficient testing of autonomous vehicles. Existing methods typically rely on manipulating a single vehicle's trajectory…

Class-Incremental Learning (CIL) aims to continuously acquire new categories while preserving previously learned knowledge. Recently, Contrastive Language-Image Pre-trained (CLIP) models have shown strong potential for CIL due to their…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

Class-incremental learning (CIL) aims to train a model to learn new classes from non-stationary data streams without forgetting old ones. In this paper, we propose a new kind of connectionist model by tailoring neural unit dynamics that…

Microscopic traffic simulation plays a crucial role in transportation engineering by providing insights into individual vehicle behavior and overall traffic flow. However, creating a realistic simulator that accurately replicates human…