相关论文: Visual-based Autonomous Driving Deployment from a …

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

This article proposes a hierarchical learning architecture for safe data-driven control in unknown environments. We consider a constrained nonlinear dynamical system and assume the availability of state-input trajectories solving control…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

There is considerable evidence that deep neural networks are vulnerable to adversarial perturbations applied directly to their digital inputs. However, it remains an open question whether this translates to vulnerabilities in real systems.…

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…

For driver observation frameworks, clean datasets collected in controlled simulated environments often serve as the initial training ground. Yet, when deployed under real driving conditions, such simulator-trained models quickly face the…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation,…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

Autonomous driving is a complex task, which has been tackled since the first self-driving car ALVINN in 1989, with a supervised learning approach, or behavioral cloning (BC). In BC, a neural network is trained with state-action pairs that…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

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…

In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem…

Large-scale robotic policies trained on data from diverse tasks and robotic platforms hold great promise for enabling general-purpose robots; however, reliable generalization to new environment conditions remains a major challenge. Toward…

Visual prompting infuses visual information into the input image to adapt models toward specific predictions and tasks. Recently, manually crafted markers such as red circles are shown to guide the model to attend to a target region on the…