相关论文: Density-based Stochastic Reachability Computation …

3D semantic occupancy prediction is an emerging perception paradigm in autonomous driving, providing a voxel-level representation of both geometric details and semantic categories. However, its effectiveness is inherently constrained in…

Mitigating traffic congestion on urban roads, with paramount importance in urban development and reduction of energy consumption and air pollution, depends on our ability to foresee road usage and traffic conditions pertaining to the…

In this paper we propose a stochastic model predictive control (MPC) algorithm for linear discrete-time systems affected by possibly unbounded additive disturbances and subject to probabilistic constraints. Constraints are treated in…

Estimating density ratios between pairs of intractable data distributions is a core problem in probabilistic modeling, enabling principled comparisons of sample likelihoods under different data-generating processes across conditions and…

Set prediction is about learning to predict a collection of unordered variables with unknown interrelations. Training such models with set losses imposes the structure of a metric space over sets. We focus on stochastic and underdefined…

Validating and controlling safety-critical systems in uncertain environments necessitates probabilistic reachable sets of future state evolutions. The existing methods of computing probabilistic reachable sets normally assume that…

This letter presents a density function based safe control synthesis framework for the pursuit-evasion problem. We extend safety analysis to dynamic unsafe sets by formulating a reach-avoid type pursuit-evasion differential game as a robust…

This paper introduces a novel machine learning architecture for an efficient estimation of the probabilistic space-time representation of complex traffic scenarios. A detailed representation of the future traffic scenario is of significant…

Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…

3D semantic occupancy prediction is one of the crucial tasks of autonomous driving. It enables precise and safe interpretation and navigation in complex environments. Reliable predictions rely on effective sensor fusion, as different…

Hamilton-Jacobi (HJ) reachability analysis is a powerful framework for ensuring safety and performance in autonomous systems. However, existing methods typically rely on a white-box dynamics model of the system, limiting their applicability…

Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…

Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…

Reachability analysis is a popular method to give safety guarantees for stochastic cyber-physical systems (SCPSs) that takes in a symbolic description of the system dynamics and uses set-propagation methods to compute an overapproximation…

This paper presents optimizations to improve the scalability of reachability analysis on a subclass of hybrid automata extended with stochasticity. The optimizations target different components of the analysis, such as quantifier…

Stop location detection, within human mobility studies, has an impacts in multiple fields including urban planning, transport network design, epidemiological modeling, and socio-economic segregation analysis. However, it remains a…

There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…