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Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…

Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make…

With the rapid development of automated vehicles (AVs) in recent years, commercially available AVs are increasingly demonstrating high-level automation capabilities. However, most existing AV safety evaluation methods are primarily designed…

Large vision-language models (VLMs) have garnered increasing interest in autonomous driving areas, due to their advanced capabilities in complex reasoning tasks essential for highly autonomous vehicle behavior. Despite their potential,…

World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can predict and adapt to dynamic environments. Existing methods…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

End-to-end learning has shown great potential in autonomous parking, yet the lack of publicly available datasets limits reproducibility and benchmarking. While prior work introduced a visual-based parking model and a pipeline for data…

While Vision-Language Models (VLMs) show significant promise for end-to-end autonomous driving by leveraging the common sense embedded in language models, their reliance on 2D image cues for complex scene understanding and decision-making…

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…

The emergence of general human knowledge and impressive logical reasoning capacity in rapidly progressed vision-language models (VLMs) have driven increasing interest in applying VLMs to high-level autonomous driving tasks, such as scene…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

Autonomous vehicles (AVs) will revolutionarize ground transport and take a substantial role in the future transportation system. Most AVs are likely to be electric vehicles (EVs) and they can participate in the vehicle-to-grid (V2G) system…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…

Edge-assisted vehicle-to-everything (V2X) motion planning is an emerging paradigm to achieve safe and efficient autonomous driving, since it leverages the global position information shared among multiple vehicles. However, due to the…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…

The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…

Motion forecasting is crucial in autonomous driving systems to anticipate the future trajectories of surrounding agents such as pedestrians, vehicles, and traffic signals. In end-to-end forecasting, the model must jointly detect and track…

Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…