相关论文: Conditional Driving from Natural Language Instruct…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

The way we communicate with autonomous cars will fundamentally change as soon as manual input is no longer required as back-up for the autonomous system. Maneuver-based driving is a potential way to allow still the user to intervene with…

This paper proposes an adaptable path tracking control system based on Reinforcement Learning (RL) for autonomous cars. A four-parameter controller shapes the behavior of the vehicle to navigate on lane changes and roundabouts. The tuning…

There is a growing interest in building autonomous systems that interact with complex environments. The difficulty associated with obtaining an accurate model for such environments poses a challenge to the task of assessing and guaranteeing…

Contact is at the core of robotic manipulation. At times, it is desired (e.g. manipulation and grasping), and at times, it is harmful (e.g. when avoiding obstacles). However, traditional path planning algorithms focus solely on…

We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observations to a latent representation of an expert policy. The expert…

Reinforcement learning has been successful in many tasks ranging from robotic control, games, energy management etc. In complex real world environments with sparse rewards and long task horizons, sample efficiency is still a major…

Reliable forecasting of the future behavior of road agents is a critical component to safe planning in autonomous vehicles. Here, we represent continuous trajectories as sequences of discrete motion tokens and cast multi-agent motion…

Autonomous reinforcement learning agents, like children, do not have access to predefined goals and reward functions. They must discover potential goals, learn their own reward functions and engage in their own learning trajectory.…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

This paper provides a roadmap that explores the question of how to imbue learning agents with the ability to understand and generate contextually relevant natural language in service of achieving a goal. We hypothesize that two key…

Autonomous vehicles need to be designed to abide by the same rules that humans follow. This is challenging, because traffic rules are fuzzy and not well defined, making them incomprehensible to machines. Satisfaction cannot be incorporated…

A general-purpose intelligent robot must be able to learn autonomously and be able to accomplish multiple tasks in order to be deployed in the real world. However, standard reinforcement learning approaches learn separate task-specific…

Transformer-based language models have shown to be very powerful for natural language generation (NLG). However, text generation conditioned on some user inputs, such as topics or attributes, is non-trivial. Past approach relies on either…

Language is never spoken in a vacuum. It is expressed, comprehended, and contextualized within the holistic backdrop of the speaker's history, actions, and environment. Since humans are used to communicating efficiently with situated…

Interactive reinforcement learning agents use human feedback or instruction to help them learn in complex environments. Often, this feedback comes in the form of a discrete signal that is either positive or negative. While informative, this…

Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver…

Grounding the instruction in the environment is a key step in solving language-guided goal-reaching reinforcement learning problems. In automated reinforcement learning, a key concern is to enhance the model's ability to generalize across…

In this work, we propose a method for learning driver models that account for variables that cannot be observed directly. When trained on a synthetic dataset, our models are able to learn encodings for vehicle trajectories that distinguish…

Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…