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

Here we propose using the successor representation (SR) to accelerate learning in a constructive knowledge system based on general value functions (GVFs). In real-world settings like robotics for unstructured and dynamic environments, it is…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

Understanding driver interactions is critical to designing autonomous vehicles to interoperate safely with human-driven cars. We consider the impact of these interactions on the policies drivers employ when navigating unsigned intersections…

Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…

In this paper, we present a system to train driving policies from experiences collected not just from the ego-vehicle, but all vehicles that it observes. This system uses the behaviors of other agents to create more diverse driving…

The safe trajectory planning of intelligent and connected vehicles is a key component in autonomous driving technology. Modeling the environment risk information by field is a promising and effective approach for safe trajectory planning.…

As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

An open problem in artificial intelligence is how to learn and represent knowledge that is sufficient for a general agent that needs to solve multiple tasks in a given world. In this work we propose world value functions (WVFs), which are a…

Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training…

We propose world value functions (WVFs), a type of goal-oriented general value function that represents how to solve not just a given task, but any other goal-reaching task in an agent's environment. This is achieved by equipping an agent…

Scene understanding, defined as learning, extraction, and representation of interactions among traffic elements, is one of the critical challenges toward high-level autonomous driving (AD). Current scene understanding methods mainly focus…

In this work, we aim to predict the future motion of vehicles in a traffic scene by explicitly modeling their pairwise interactions. Specifically, we propose a graph neural network that jointly predicts the discrete interaction modes and…

An active area of research is to increase the safety of self-driving vehicles. Although safety cannot be guarenteed completely, the capability of a vehicle to predict the future trajectories of its surrounding vehicles could help ensure…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

A critical aspect of safe and efficient motion planning for autonomous vehicles (AVs) is to handle the complex and uncertain behavior of surrounding human-driven vehicles (HDVs). Despite intensive research on driver behavior prediction,…

Current end-to-end autonomous driving planners are fundamentally reactive: they condition on historical and present observations to predict future actions. We argue that autonomous agents should instead imagine future scenes before…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…