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Self-driving vehicles (SDVs) must be rigorously tested on a wide range of scenarios to ensure safe deployment. The industry typically relies on closed-loop simulation to evaluate how the SDV interacts on a corpus of synthetic and real…

Advanced Driver Assistance Systems (ADAS) based on deep neural networks (DNNs) are widely used in autonomous vehicles for critical perception tasks such as object detection, semantic segmentation, and lane recognition. However, these…

Traditional autonomous driving methods adopt a modular design, decomposing tasks into sub-tasks. In contrast, end-to-end autonomous driving directly outputs actions from raw sensor data, avoiding error accumulation. However, training an…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

F1Tenth is a widely adopted reduced-scale platform for developing and testing autonomous racing algorithms, hosting annual competitions worldwide. With high operating speeds, dynamic environments, and head-to-head interactions, autonomous…

Vehicle-to-Everything (V2X) communication has emerged as a promising paradigm for autonomous driving, enabling connected agents to share complementary perception information and negotiate with each other to benefit the final planning.…

Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…

During software development, developers often make numerous modifications to the software to address existing issues or implement new features. However, certain changes may inadvertently have a detrimental impact on the overall system…

Although end-to-end autonomous driving (E2E-AD) technologies have made significant progress in recent years, there remains an unsatisfactory performance on closed-loop evaluation. The potential of leveraging planning in query design and…

End-to-end autonomous driving recently emerged as a promising research direction to target autonomy from a full-stack perspective. Along this line, many of the latest works follow an open-loop evaluation setting on nuScenes to study the…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…

Artificial intelligence (AI) models are becoming key components in an autonomous vehicle (AV), especially in handling complicated perception tasks. However, closing the loop through AI-based feedback may pose significant risks on…

Autonomous vehicles must be comprehensively evaluated before deployed in cities and highways. However, most existing evaluation approaches for autonomous vehicles are static and lack adaptability, so they are usually inefficient in…

Autonomous Vehicles rely on accurate and robust sensor observations for safety critical decision-making in a variety of conditions. Fundamental building blocks of such systems are sensors and classifiers that process ultrasound, RADAR, GPS,…

Enhancing the robustness of vision algorithms in real-world scenarios is challenging. One reason is that existing robustness benchmarks are limited, as they either rely on synthetic data or ignore the effects of individual nuisance factors.…

Autonomous vehicles in interactive traffic environments are often limited by the scarcity of safety-critical tail events in static datasets, which biases learned policies toward average-case behaviors and reduces robustness. Existing…

The robustness of deep neural networks is usually lacking under adversarial examples, common corruptions, and distribution shifts, which becomes an important research problem in the development of deep learning. Although new deep learning…

Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…

Pose estimation aims to accurately identify anatomical keypoints in humans and animals using monocular images, which is crucial for various applications such as human-machine interaction, embodied AI, and autonomous driving. While current…

Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…