相关论文: Multimodal End-to-End Autonomous Driving

Autonomous systems have advanced significantly, but challenges persist in accident-prone environments where robust decision-making is crucial. A single vehicle's limited sensor range and obstructed views increase the likelihood of…

Autonomous driving is of great interest to industry and academia alike. The use of machine learning approaches for autonomous driving has long been studied, but mostly in the context of perception. In this paper we take a deeper look on the…

High infraction rates remain the primary bottleneck for end-to-end (E2E) autonomous driving, as evidenced by the low driving scores on the CARLA Leaderboard. Despite collision-related infractions being the dominant failure mode in…

In end-to-end autonomous driving, the utilization of existing sensor fusion techniques and navigational control methods for imitation learning proves inadequate in challenging situations that involve numerous dynamic agents. To address this…

In the spectrum of vision-based autonomous driving, vanilla end-to-end models are not interpretable and suboptimal in performance, while mediated perception models require additional intermediate representations such as segmentation masks…

Vision-language models enable the understanding and reasoning of complex traffic scenarios through multi-source information fusion, establishing it as a core technology for autonomous driving. However, existing vision-language models are…

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…

Multimodal artificial intelligence (AI) integrates diverse types of data via machine learning to improve understanding, prediction, and decision-making across disciplines such as healthcare, science, and engineering. However, most…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. Recently, with the rise of deep learning, end-to-end control…

Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…

Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules,…

Given the wide adoption of multimodal sensors (e.g., camera, lidar, radar) by autonomous vehicles (AVs), deep analytics to fuse their outputs for a robust perception become imperative. However, existing fusion methods often make two…

World models for autonomous driving have the potential to dramatically improve the reasoning capabilities of today's systems. However, most works focus on camera data, with only a few that leverage lidar data or combine both to better…

Autonomous driving sensors generate an enormous amount of data. In this paper, we explore learned multimodal compression for autonomous driving, specifically targeted at 3D object detection. We focus on camera and LiDAR modalities and…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…

The end-to-end learning pipeline is gradually creating a paradigm shift in the ongoing development of highly autonomous vehicles (AVs), largely due to advances in deep learning, the availability of large-scale training datasets, and…

Deep neural networks designed for vision tasks are often prone to failure when they encounter environmental conditions not covered by the training data. Single-modal strategies are insufficient when the sensor fails to acquire information…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…