相关论文: Learning End-to-end Autonomous Driving using Guide…

In end-to-end autonomous driving,the motion prediction plays a pivotal role in ego-vehicle planning. However, existing methods often rely on globally aggregated motion features, ignoring the fact that planning decisions are primarily…

In this paper, we address the issue of increasing the performance of reinforcement learning (RL) solutions for autonomous racing cars when navigating under conditions where practical vehicle modelling errors (commonly known as \emph{model…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

Autonomous driving, as an agent operating in the physical world, requires the fundamental capability to build \textit{world models} that capture how the environment evolves spatiotemporally in order to support long-term planning. At the…

Multi-agent reinforcement learning (MARL) has been increasingly adopted in many real-world applications. While MARL enables decentralized deployment on resource-constrained edge devices, it suffers from severe non-stationarity due to the…

Vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, while still lacking…

Emerging generative world models and vision-language-action (VLA) systems are rapidly reshaping automated driving by enabling scalable simulation, long-horizon forecasting, and capability-rich decision making. Across these directions,…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

For assistive robots and virtual agents to achieve ubiquity, machines will need to anticipate the needs of their human counterparts. The field of Learning from Demonstration (LfD) has sought to enable machines to infer predictive models of…

Autonomous vehicles have the potential to revolutionize transportation, but they must be able to navigate safely in traffic before they can be deployed on public roads. The goal of this project is to train autonomous vehicles to make…

We propose an end-to-end driving model that integrates a multi-task UNet (MTUNet) architecture and control algorithms in a pipeline of data flow from a front camera through this model to driving decisions. It provides quantitative measures…

Autonomous Mobility-on-Demand (AMoD) systems are an evolving mode of transportation in which a centrally coordinated fleet of self-driving vehicles dynamically serves travel requests. The control of these systems is typically formulated as…

Autonomous driving faces challenges in navigating complex real-world traffic, requiring safe handling of both common and critical scenarios. Reinforcement learning (RL), a prominent method in end-to-end driving, enables agents to learn…

Autonomous parking is a critical component for achieving safe and efficient urban autonomous driving. However, unstructured environments and dynamic interactions pose significant challenges to autonomous parking tasks. To address this…

The advent of autonomous vehicles (AVs) alongside human-driven vehicles (HVs) has ushered in an era of mixed traffic flow, presenting a significant challenge: the intricate interaction between these entities within complex driving…

Conventional end-to-end (E2E) driving models are effective at generating physically plausible trajectories, but often fail to generalize to long-tail scenarios due to the lack of essential world knowledge to understand and reason about…

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…

Sensor fusion approaches for intelligent self-driving agents remain key to driving scene understanding given visual global contexts acquired from input sensors. Specifically, for the local waypoint prediction task, single-modality networks…