相关论文: Learning End-to-end Multimodal Sensor Policies for…

This paper introduces a new approach to solve sensor management problems. Classically sensor management problems can be well formalized as Partially-Observed Markov Decision Processes (POMPD). The original approach developped here consists…

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…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback,…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

End-to-end learning from sensory data has shown promising results in autonomous driving. While employing many sensors enhances world perception and should lead to more robust and reliable behavior of autonomous vehicles, it is challenging…

We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization training. During the joint training stage, a neural network…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Operating in unstructured environments like households requires robotic policies that are robust to out-of-distribution conditions. Although much work has been done in evaluating robustness for visuomotor policies, the robustness evaluation…

Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthesising such controllers, even for a single objective, is a…

In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…

Using deep reinforcement learning, we train control policies for autonomous vehicles leading a platoon of vehicles onto a roundabout. Using Flow, a library for deep reinforcement learning in micro-simulators, we train two policies, one…

Traffic signal control has long been considered as a critical topic in intelligent transportation systems. Most existing learning methods mainly focus on isolated intersections and suffer from inefficient training. This paper aims at the…

Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…

Learning diverse and high-fidelity traffic simulations from human driving demonstrations is crucial for autonomous driving evaluation. The recent next-token prediction (NTP) paradigm, widely adopted in large language models (LLMs), has been…

Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…

Recent advances in end-to-end autonomous driving show that policies trained on patch-aligned features extracted from foundation models generalize better to Out-of-Distribution (OOD). We hypothesize that due to the self-attention mechanism,…

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…