相关论文: Urban Driving with Conditional Imitation Learning

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

In autonomous driving, the end-to-end (E2E) driving approach that predicts vehicle control signals directly from sensor data is rapidly gaining attention. To learn a safe E2E driving system, one needs an extensive amount of driving data and…

Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking without considering information hidden in surgical scenes are…

This paper investigates how end-to-end driving models can be improved to drive more accurately and human-like. To tackle the first issue we exploit semantic and visual maps from HERE Technologies and augment the existing Drive360 dataset…

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…

A realistic long-term microscopic traffic simulator is necessary for understanding how microscopic changes affect traffic patterns at a larger scale. Traditional simulators that model human driving behavior with heuristic rules often fail…

A long-standing goal in robot learning is to develop methods for robots to acquire new skills autonomously. While reinforcement learning (RL) comes with the promise of enabling autonomous data collection, it remains challenging to scale in…

Human demonstration data is often ambiguous and incomplete, motivating imitation learning approaches that also exhibit reliable planning behavior. A common paradigm to perform planning-from-demonstration involves learning a reward function…

Microscopic traffic flow models can be distinguished in lane-based or lane-free depending on the degree of lane-discipline. This distinction holds true only if motorcycles are neglected in lane-based traffic. In cities, as opposed to…

Computer-based simulation of pedestrian dynamics reached meaningful results in the last decade, thanks to empirical evidences and acquired knowledge fitting fundamental diagram constraints and space utilization. Moreover, computational…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

In standard passive imitation learning, the goal is to learn a target policy by passively observing full execution trajectories of it. Unfortunately, generating such trajectories can require substantial expert effort and be impractical in…

In this paper, we propose Sparse Imitation Reinforcement Learning (SIRL), a hybrid end-to-end control policy that combines the sparse expert driving knowledge with reinforcement learning (RL) policy for autonomous driving (AD) task in CARLA…

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.…

While imitation learning for vision based autonomous mobile robot navigation has recently received a great deal of attention in the research community, existing approaches typically require state action demonstrations that were gathered…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…