相关论文: Exploring the Limitations of Behavior Cloning for …

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies from human demonstrations, yet its…

There are many examples of cases where access to improved models of human behavior and cognition has allowed creation of robots which can better interact with humans, and not least in road vehicle automation this is a rapidly growing area…

Large-scale data is crucial for learning realistic and capable driving policies. However, it can be impractical to rely on scaling datasets with real data alone. The majority of driving data is uninteresting, and deliberately collecting new…

The success of automated driving deployment is highly depending on the ability to develop an efficient and safe driving policy. The problem is well formulated under the framework of optimal control as a cost optimization problem. Model…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

Language is often considered a key aspect of human thinking, providing us with exceptional abilities to generalize, explore, plan, replan, and adapt to new situations. However, Reinforcement Learning (RL) agents are far from human-level…

Autonomous vehicles currently suffer from a time-inefficient driving style caused by uncertainty about human behavior in traffic interactions. Accurate and reliable prediction models enabling more efficient trajectory planning could make…

Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…

Generalizable agents should adapt to diverse tasks and unseen environments beyond their training distribution. This position paper argues that such generalization requires environment scaling: expanding the distribution of executable…

The self-driving based on deep reinforcement learning, as the most important application of artificial intelligence, has become a popular topic. Most of the current self-driving methods focus on how to directly learn end-to-end self-driving…

Machine learning (ML)-based planners have recently gained significant attention. They offer advantages over traditional optimization-based planning algorithms. These advantages include fewer manually selected parameters and faster…

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…

This paper describes a framework for learning Automated Vehicles (AVs) driver models via knowledge sharing between vehicles and personalization. The innate variability in the transportation system makes it exceptionally challenging to…

Continual learning is essential for all real-world applications, as frozen pre-trained models cannot effectively deal with non-stationary data distributions. The purpose of this study is to review the state-of-the-art methods that allow…

Credible microscopic traffic simulation requires car-following models that capture both the average response and the substantial variability observed across drivers and situations. However, most data-driven calibrations remain…

Developing autonomous vehicles that can navigate complex environments with human-level safety and efficiency is a central goal in self-driving research. A common approach to achieving this is imitation learning, where agents are trained to…

Concept bottleneck models have been successfully used for explainable machine learning by encoding information within the model with a set of human-defined concepts. In the context of human-assisted or autonomous driving, explainability…