相关论文: Perception as prediction using general value funct…

Inspired by human neurological structures for action anticipation, we present an action anticipation model that enables the prediction of plausible future actions by forecasting both the visual and temporal future. In contrast to current…

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…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Studies have shown that autonomous vehicles (AVs) behave conservatively in a traffic environment composed of human drivers and do not adapt to local conditions and socio-cultural norms. It is known that socially aware AVs can be designed if…

The primary focus of autonomous driving research is to improve driving accuracy. While great progress has been made, state-of-the-art algorithms still fail at times. Such failures may have catastrophic consequences. It therefore is…

Safety is one of the most crucial challenges of autonomous driving vehicles, and one solution to guarantee safety is to employ an additional control revision module after the planning backbone. Control Barrier Function (CBF) has been widely…

Estimating the potential behavior of the surrounding human-driven vehicles is crucial for the safety of autonomous vehicles in a mixed traffic flow. Recent state-of-the-art achieved accurate prediction using deep neural networks. However,…

We consider real-world reinforcement learning (RL) of robotic manipulation tasks that involve both visuomotor skills and contact-rich skills. We aim to train a policy that maps multimodal sensory observations (vision and force) to a…

In this paper we investigate the use of reinforcement-learning based prediction approaches for a real drinking-water treatment plant. Developing such a prediction system is a critical step on the path to optimizing and automating water…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Agents in real-world scenarios like automated driving deal with uncertainty in their environment, in particular due to perceptual uncertainty. Although, reinforcement learning is dedicated to autonomous decision-making under uncertainty…

Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data,…

Situation awareness (SA) is generally considered as the perception, understanding, and projection of objects' properties and positions. We believe if the system can sense drivers' SA, it can appropriately provide warnings for objects that…

The autonomous car technology promises to replace human drivers with safer driving systems. But although autonomous cars can become safer than human drivers this is a long process that is going to be refined over time. Before these vehicles…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

Learning for model based control can be sample-efficient and generalize well, however successfully learning models and controllers that represent the problem at hand can be challenging for complex tasks. Using inaccurate models for learning…

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…

While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a…

Advanced Driver Assistance Systems (ADAS) alert drivers during safety-critical scenarios but often provide superfluous alerts due to a lack of consideration for drivers' knowledge or scene awareness. Modeling these aspects together in a…