相关论文: Attacking Vision-based Perception in End-to-End Au…

Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan…

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…

Vision-language models (VLMs) are increasingly used in autonomous driving because they combine visual perception with language-based reasoning, supporting more interpretable decision-making, yet their robustness to physical adversarial…

Deep Neural Networks (DNNs) have tremendous potential in advancing the vision for self-driving cars. However, the security of DNN models in this context leads to major safety implications and needs to be better understood. We consider the…

Though deep neural models adopted to realize the perception of autonomous driving have proven vulnerable to adversarial examples, known attacks often leverage 2D patches and target mostly monocular perception. Therefore, the effectiveness…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

Deep learning-based systems have been shown to be vulnerable to adversarial attacks in both digital and physical domains. While feasible, digital attacks have limited applicability in attacking deployed systems, including face recognition…

Deep neural perception and control networks are likely to be a key component of self-driving vehicles. These models need to be explainable - they should provide easy-to-interpret rationales for their behavior - so that passengers, insurance…

Deep learning has substantially boosted the performance of Monocular Depth Estimation (MDE), a critical component in fully vision-based autonomous driving (AD) systems (e.g., Tesla and Toyota). In this work, we develop an attack against…

Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples. Adversarial examples are malicious images with visually imperceptible perturbations. While these carefully crafted perturbations restricted with tight…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

Existing physical adversarial attacks on vision-based autonomous driving induce time-evolving perception errors, including biased object tracking or trajectory prediction, through (i) sophisticated physical patch inducing detection box…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…

Machine Learning models are vulnerable to adversarial attacks that rely on perturbing the input data. This work proposes a novel strategy using Autoencoder Deep Neural Networks to defend a machine learning model against two gradient-based…

Terrain traversability analysis is a fundamental issue to achieve the autonomy of a robot at off-road environments. Geometry-based and appearance-based methods have been studied in decades, while behavior-based methods exploiting learning…

Lane detection plays an important role in autonomous driving perception systems. As deep learning algorithms gain popularity, monocular lane detection methods based on them have demonstrated superior performance and emerged as a key…

Recent advances in combining deep learning and Reinforcement Learning have shown a promising path for designing new control agents that can learn optimal policies for challenging control tasks. These new methods address the main limitations…

Traffic sign recognition systems play a crucial role in assisting drivers to make informed decisions while driving. However, due to the heavy reliance on deep learning technologies, particularly for future connected and autonomous driving,…

Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the…