相关论文: Conditional Driving from Natural Language Instruct…

Developing an automated driving system capable of navigating complex traffic environments remains a formidable challenge. Unlike rule-based or supervised learning-based methods, Deep Reinforcement Learning (DRL) based controllers eliminate…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

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…

Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language…

While there has been an increasing focus on the use of game theoretic models for autonomous driving, empirical evidence shows that there are still open questions around dealing with the challenges of common knowledge assumptions as well as…

Recent developments in language models have created new opportunities in air traffic control studies. The current focus is primarily on text and language-based use cases. However, these language models may offer a higher potential impact in…

Vision-language-action models have reshaped autonomous driving to incorporate languages into the decision-making process. However, most existing pipelines only utilize the language modality for scene descriptions or reasoning and lack the…

This work introduces interactive traffic scenarios in the CARLA simulator, which are based on real-world traffic. We concentrate on tactical tasks lasting several seconds, which are especially challenging for current control methods. The…

Imitation learning holds great promise for addressing the complex task of autonomous urban driving, as experienced human drivers can navigate highly challenging scenarios with ease. While behavior cloning is a widely used imitation learning…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation,…

Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway…

The role of simulation in autonomous driving is becoming increasingly important due to the need for rapid prototyping and extensive testing. The use of physics-based simulation involves multiple benefits and advantages at a reasonable cost…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…

Current technology for autonomous cars primarily focuses on getting the passenger from point A to B. Nevertheless, it has been shown that passengers are afraid of taking a ride in self-driving cars. One way to alleviate this problem is by…

Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…

In conditionally automated driving, drivers decoupled from driving while immersed in non-driving-related tasks (NDRTs) could potentially either miss the system-initiated takeover request (TOR) or a sudden TOR may startle them. To better…