相关论文: Dynamic Interaction-Aware Scene Understanding for …

We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…

Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…

We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning…

Intelligent Transportation Systems (ITSs) are envisioned to play a critical role in improving traffic flow and reducing congestion, which is a pervasive issue impacting urban areas around the globe. Rapidly advancing vehicular communication…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

Evaluating and training autonomous driving systems require diverse and scalable corner cases. However, most existing scene generation methods lack controllability, accuracy, and versatility, resulting in unsatisfactory generation results.…

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…

Scene understanding is a fundamental capability needed in many domains, ranging from question-answering to robotics. Unlike recent end-to-end approaches that must explicitly learn varying compositions of the same scene, our method reasons…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Tactical decision making is a critical feature for advanced driving systems, that incorporates several challenges such as complexity of the uncertain environment and reliability of the autonomous system. In this work, we develop a…

Diverse and realistic traffic scenarios are crucial for evaluating the AI safety of autonomous driving systems in simulation. This work introduces a data-driven method called TrafficGen for traffic scenario generation. It learns from the…

Scene graph generation refers to the task of automatically mapping an image into a semantic structural graph, which requires correctly labeling each extracted object and their interaction relationships. Despite the recent success in object…

Modeling complicated interactions among the ego-vehicle, road agents, and map elements has been a crucial part for safety-critical autonomous driving. Previous works on end-to-end autonomous driving rely on the attention mechanism for…

In this paper, we propose a decision making algorithm intended for automated vehicles that negotiate with other possibly non-automated vehicles in intersections. The decision algorithm is separated into two parts: a high-level decision…

Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up…

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…

Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…

In the realm of heterogeneous mixed autonomy, vehicles experience dynamic spatial correlations and nonlinear temporal interactions in a complex, non-Euclidean space. These complexities pose significant challenges to traditional…