相关论文: Sample Efficient Interactive End-to-End Deep Learn…

Ensembling deep learning models is a shortcut to promote its implementation in new scenarios, which can avoid tuning neural networks, losses and training algorithms from scratch. However, it is difficult to collect sufficient accurate and…

End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated…

Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…

End-to-End (E2E) autonomous driving models have shown growing capability in recent years, with performance improving on increasingly challenging benchmarks. However, modern generative E2E planners still suffer from a substantial number of…

Safeguard functions such as those provided by advanced emergency braking (AEB) can provide another layer of safety for autonomous vehicles (AV). A smart safeguard function should adapt the activation conditions to the driving policy, to…

A common failure mode for policies trained with imitation is compounding execution errors at test time. When the learned policy encounters states that are not present in the expert demonstrations, the policy fails, leading to degenerate…

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…

Although deep learning approaches have stood out in recent years due to their state-of-the-art results, they continue to suffer from catastrophic forgetting, a dramatic decrease in overall performance when training with new classes added…

Autonomous cars are well known for being vulnerable to adversarial attacks that can compromise the safety of the car and pose danger to other road users. To effectively defend against adversaries, it is required to not only test autonomous…

End-to-end autonomous driving remains constrained by the difficulty of producing adaptive, robust, and interpretable decision-making across diverse scenarios. Existing methods often collapse diverse driving behaviors, lack long-horizon…

Autonomous vehicle safety is crucial for the successful deployment of self-driving cars. However, most existing planning methods rely heavily on imitation learning, which limits their ability to leverage collision data effectively.…

Advanced sensors are a key to enable self-driving cars technology. Laser scanner sensors (LiDAR, Light Detection And Ranging) became a fundamental choice due to its long-range and robustness to low light driving conditions. The problem of…

In this work we are the first to present an offline policy gradient method for learning imitative policies for complex urban driving from a large corpus of real-world demonstrations. This is achieved by building a differentiable data-driven…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Interactive imitation learning makes an agent's control policy robust by stepwise supervisions from an expert. The recent algorithms mostly employ expert-agent switching systems to reduce the expert's burden by limitedly selecting the…

Most self-driving systems rely on hand-coded perception outputs and engineered driving rules. Learning directly from human driving data with an end-to-end method can allow for a training architecture that is simpler and scales well with…

Data-driven simulators promise high data-efficiency for driving policy learning. When used for modelling interactions, this data-efficiency becomes a bottleneck: Small underlying datasets often lack interesting and challenging edge cases…

Interactive Imitation Learning deals with training a novice policy from expert demonstrations in an online fashion. The established DAgger algorithm trains a robust novice policy by alternating between interacting with the environment and…

Existing architectures for imitation learning using image-to-action policy networks perform poorly when presented with an input image containing multiple instances of the object of interest, especially when the number of expert…

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…