相关论文: Interpretable End-to-end Urban Autonomous Driving …

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

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…

Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…

Autonomous driving systems face significant challenges in perceiving complex environments and making real-time decisions. Traditional modular approaches, while offering interpretability, suffer from error propagation and coordination…

An intelligent driving system should dynamically formulate appropriate driving strategies based on the current environment and vehicle status while ensuring system security and reliability. However, methods based on reinforcement learning…

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Deep reinforcement Learning for end-to-end driving is limited by the need of complex reward engineering. Sparse rewards can circumvent this challenge but suffers from long training time and leads to sub-optimal policy. In this work, we…

End-to-end autonomous driving has emerged as a promising paradigm for directly mapping sensor inputs to planning maneuvers using learning-based modular integrations. However, existing imitation learning (IL)-based models suffer from…

The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Conventional end-to-end autonomous driving methods often rely on explicit global scene representations, which typically consist of 3D object detection, online mapping, and motion prediction. In contrast, human drivers selectively attend to…