相关论文: Learning a Lattice Planner Control Set for Autonom…

The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…

We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with…

Safe path planning in autonomous driving is a complex task due to the interplay of static scene elements and uncertain surrounding agents. While all static scene elements are a source of information, there is asymmetric importance to the…

Effective driving style analysis is critical to developing human-centered intelligent driving systems that consider drivers' preferences. However, the approaches and conclusions of most related studies are diverse and inconsistent because…

This paper introduces a method of identifying a maximal set of safe strategies from data for stochastic systems with unknown dynamics using barrier certificates. The first step is learning the dynamics of the system via Gaussian process…

Accurate, computationally efficient, and adaptive vehicle models are essential for autonomous vehicle control. Hybrid models that combine a nominal model with a Gaussian Process (GP)-based residual model have emerged as a promising…

We establish an algorithm to learn feedback maps from data for a class of robust model predictive control (MPC) problems. The algorithm accounts for the approximation errors due to the learning directly at the synthesis stage, ensuring…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Autonomous driving requires safe planning, but most learning-based planners lack explicit self-correction ability: once an unsafe action is proposed, there is no mechanism to correct it. Thus, we propose CorrectionPlanner, an autoregressive…

Motivated by the increasing availability of vehicle trajectory data, we propose learn-to-route, a comprehensive trajectory-based routing solution. Specifically, we first construct a graph-like structure from trajectories as the routing…

Traditional machine learning methods usually minimize a simple loss function to learn a predictive model, and then use a complex performance measure to measure the prediction performance. However, minimizing a simple loss function cannot…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…

Parameterized feedforward control is at the basis of many successful control applications with varying references. The aim of this paper is to develop an efficient data-driven approach to learn the feedforward parameters for MIMO systems.…

To improve the driving mobility and energy efficiency of connected autonomous electrified vehicles, this paper presents an integrated longitudinal speed decision-making and energy efficiency control strategy. The proposed approach is a…

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…

Dense embeddings deliver strong retrieval performance but often lack interpretability and controllability. This paper introduces a novel approach using sparse autoencoders (SAE) to interpret and control dense embeddings via the learned…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

We address the problem of effectively composing skills to solve sparse-reward tasks in the real world. Given a set of parameterized skills (such as exerting a force or doing a top grasp at a location), our goal is to learn policies that…