Related papers: VADv2: End-to-End Vectorized Autonomous Driving vi…
Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform…
In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's state understanding and decision making. We introduce VDRive, a novel pipeline for end-to-end autonomous driving that…
End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…
Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…
End-to-End (E2E) planning has become a powerful paradigm for autonomous driving, yet current systems remain fundamentally uncertainty-blind. They assume perception outputs are fully reliable, even in ambiguous or poorly observed scenes,…
Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…
Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…
Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…
Vehicle-to-everything (V2X) cooperation has emerged as a promising paradigm to overcome the perception limitations of classical autonomous driving by leveraging information from both ego-vehicle and infrastructure sensors. However,…
Large Language Models (LLMs) and Vision-Language Models (VLMs) have emerged as promising candidates for end-to-end autonomous driving. However, these models typically face challenges in inference latency, action precision, and…
Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…
Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…
Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…
In the simulation-based testing and evaluation of autonomous vehicles (AVs), how background vehicles (BVs) drive directly influences the AV's driving behavior and further impacts the testing result. Existing simulation platforms use either…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
Autonomous parking is a crucial task in the intelligent driving field. Traditional parking algorithms are usually implemented using rule-based schemes. However, these methods are less effective in complex parking scenarios due to the…
Generalization is a central challenge in autonomous driving, as real-world deployment requires robust performance under unseen scenarios, sensor domains, and environmental conditions. Recent world-model-based planning methods have shown…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…
Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…