相关论文: Human Visual Attention Prediction Boosts Learning …

Biological agents have adopted the principle of attention to limit the rate of incoming information from the environment. One question that arises is if an artificial agent has access to only a limited view of its surroundings, how can it…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

Existing models of human visual attention are generally unable to incorporate direct task guidance and therefore cannot model an intent or goal when exploring a scene. To integrate guidance of any downstream visual task into attention…

Inspired by the human cognitive system, attention is a mechanism that imitates the human cognitive awareness about specific information, amplifying critical details to focus more on the essential aspects of data. Deep learning has employed…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Traffic accident anticipation aims to accurately and promptly predict the occurrence of a future accident from dashcam videos, which is vital for a safety-guaranteed self-driving system. To encourage an early and accurate decision, existing…

"Embodied visual navigation" problem requires an agent to navigate in a 3D environment mainly rely on its first-person observation. This problem has attracted rising attention in recent years due to its wide application in autonomous…

Studies have shown that autonomous vehicles (AVs) behave conservatively in a traffic environment composed of human drivers and do not adapt to local conditions and socio-cultural norms. It is known that socially aware AVs can be designed if…

Distracted drivers are dangerous drivers. Equipping advanced driver assistance systems (ADAS) with the ability to detect driver distraction can help prevent accidents and improve driver safety. In order to detect driver distraction, an ADAS…

Deep neural networks are a key component of behavior prediction and motion generation for self-driving cars. One of their main drawbacks is a lack of transparency: they should provide easy to interpret rationales for what triggers certain…

We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system…

Vision Transformers (ViT) have advanced computer vision, yet their efficacy in complex tasks like driving remains less explored. This study enhances ViT by integrating human eye gaze, captured via eye-tracking, to increase prediction…

Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

The end-to-end learning ability of self-driving vehicles has achieved significant milestones over the last decade owing to rapid advances in deep learning and computer vision algorithms. However, as autonomous driving technology is a…

The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…

Driving in a complex urban environment is a difficult task that requires a complex decision policy. In order to make informed decisions, one needs to gain an understanding of the long-range context and the importance of other vehicles. In…

Tactical decision making and strategic motion planning for autonomous highway driving are challenging due to the complication of predicting other road users' behaviors, diversity of environments, and complexity of the traffic interactions.…