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Autonomous driving requires safe planning, but most learning-based planners lack explicit self-correction ability: once an unsafe action is proposed, there is no mechanism to correct it. Thus, we propose CorrectionPlanner, an autoregressive…

Although neural networks have seen tremendous success as predictive models in a variety of domains, they can be overly confident in their predictions on out-of-distribution (OOD) data. To be viable for safety-critical applications, like…

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL…

With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…

Neural network-based driving planners have shown great promises in improving task performance of autonomous driving. However, it is critical and yet very challenging to ensure the safety of systems with neural network based components,…

Generating multi-vehicle interaction scenarios can benefit motion planning and decision making of autonomous vehicles when on-road data is insufficient. This paper presents an efficient approach to generate varied multi-vehicle interaction…

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…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Modern autonomous driving algorithms often rely on learning the mapping from visual inputs to steering actions from human driving data in a variety of scenarios and visual scenes. The required data collection is not only labor intensive,…

People's goal-directed behaviors are influenced by their cognitive biases, and autonomous systems that interact with people should be aware of this. For example, people's attention to objects in their environment will be biased in a way…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning and…

Despite real-time planners exhibiting remarkable performance in autonomous driving, the growing exploration of Large Language Models (LLMs) has opened avenues for enhancing the interpretability and controllability of motion planning.…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Trustworthy AI is mandatory for the broad deployment of autonomous vehicles. Although end-to-end approaches derive control commands directly from raw data, interpreting these decisions remains challenging, especially in complex urban…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

Achieving full automation in self-driving vehicles remains a challenge, especially in dynamic urban environments where navigation requires real-time adaptability. Existing systems struggle to handle navigation plans when faced with…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on the road, from aggressive maneuvers like speeding and…

The abilities to understand the social interaction behaviors between a vehicle and its surroundings while predicting its trajectory in an urban environment are critical for road safety in autonomous driving. Social interactions are hard to…