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

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…

Autonomous-driving research has recently embraced deep Reinforcement Learning (RL) as a promising framework for data-driven decision making, yet a clear picture of how these algorithms are currently employed, benchmarked and evaluated is…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to…

Reinforcement Learning (RL) has the potential to surpass human performance in driving without needing any expert supervision. Despite its promise, the state-of-the-art in sensorimotor self-driving is dominated by imitation learning methods…

Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…

Conventional end-to-end (E2E) driving models are effective at generating physically plausible trajectories, but often fail to generalize to long-tail scenarios due to the lack of essential world knowledge to understand and reason about…

Artificial intelligence, particularly through recent advancements in deep learning, has achieved exceptional performances in many tasks in fields such as natural language processing and computer vision. In addition to desirable evaluation…

Recent years have seen remarkable progress in autonomous driving, yet generalization to long-tail and open-world scenarios remains a major bottleneck for large-scale deployment. To address this challenge, some works use LLMs and VLMs for…

Autonomous driving is undergoing a shift from modular rule based pipelines toward end to end (E2E) learning systems. This paper examines this transition by tracing the evolution from classical sense perceive plan control architectures to…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

Exploring open-world situations in an end-to-end manner is a promising yet challenging task due to the need for strong generalization capabilities. In particular, end-to-end autonomous driving in unstructured outdoor environments often…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Defining action spaces for conversational agents and optimizing their decision-making process with reinforcement learning is an enduring challenge. Common practice has been to use handcrafted dialog acts, or the output vocabulary, e.g. in…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…

Lane detection is an essential part of the perception sub-architecture of any automated driving (AD) or advanced driver assistance system (ADAS). When focusing on low-cost, large scale products for automated driving, model-driven approaches…

End-to-end paradigm has emerged as a promising approach to autonomous driving. However, existing single-agent end-to-end pipelines are often constrained by occlusion and limited perception range, resulting in hazardous driving. Furthermore,…