相关论文: Learning a Decision Module by Imitating Driver's C…

Out of the many deep reinforcement learning approaches for autonomous driving, only few make use of the options (or skills) framework. That is surprising, as this framework is naturally suited for hierarchical control applications in…

In light of growing attention of intelligent vehicle systems, we propose developing a driver model that uses a hybrid system formulation to capture the intent of the driver. This model hopes to capture human driving behavior in a way that…

Advances in machine learning methods for computer vision tasks have led to their consideration for safety-critical applications like autonomous driving. However, effectively integrating these methods into the automotive development…

Understanding and modeling human driver behavior is crucial for advanced vehicle development. However, unique driving styles, inconsistent behavior, and complex decision processes render it a challenging task, and existing approaches often…

Most self-driving systems rely on hand-coded perception outputs and engineered driving rules. Learning directly from human driving data with an end-to-end method can allow for a training architecture that is simpler and scales well with…

Predictive analytics systems are currently one of the most important areas of research and development within the Artificial Intelligence domain and particularly in Machine Learning. One of the "holy grails" of predictive analytics is the…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…

Signal processing, communications, and control have traditionally relied on classical statistical modeling techniques. Such model-based methods utilize mathematical formulations that represent the underlying physics, prior information and…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

We present a modular approach for learning policies for navigation over long planning horizons from language input. Our hierarchical policy operates at multiple timescales, where the higher-level master policy proposes subgoals to be…

This paper proposes a neural network hybrid modeling framework for dynamics learning to promote an interpretable, computationally efficient way of dynamics learning and system identification. First, a low-level model will be trained to…

An intelligent agent operating in the real-world must balance achieving its goal with maintaining the safety and comfort of not only itself, but also other participants within the surrounding scene. This requires jointly reasoning about the…

Can we preserve the accuracy of neural models while also providing faithful explanations of model decisions to training data? We propose a "wrapper box'' pipeline: training a neural model as usual and then using its learned feature…

Rather than learning new control policies for each new task, it is possible, when tasks share some structure, to compose a "meta-policy" from previously learned policies. This paper reports results from experiments using Deep Reinforcement…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

The autonomous driving community has witnessed a rapid growth in approaches that embrace an end-to-end algorithm framework, utilizing raw sensor input to generate vehicle motion plans, instead of concentrating on individual tasks such as…

Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…