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In many real-world decision making problems, reaching an optimal decision requires taking into account a variable number of objects around the agent. Autonomous driving is a domain in which this is especially relevant, since the number of…

End-to-end motion planning models equipped with deep neural networks have shown great potential for enabling full autonomous driving. However, the oversized neural networks render them impractical for deployment on resource-constrained…

In standard passive imitation learning, the goal is to learn a target policy by passively observing full execution trajectories of it. Unfortunately, generating such trajectories can require substantial expert effort and be impractical in…

Data subsampling has become widely recognized as a tool to overcome computational and economic bottlenecks in analyzing massive datasets. We contribute to the development of adaptive design for estimation of finite population…

Designing a driving policy for autonomous vehicles is a difficult task. Recent studies suggested an end-toend (E2E) training of a policy to predict car actuators directly from raw sensory inputs. It is appealing due to the ease of labeled…

Sample efficiency is a critical property when optimizing policy parameters for the controller of a robot. In this paper, we evaluate two state-of-the-art policy optimization algorithms. One is a recent deep reinforcement learning method…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

The current autonomous stack is well modularized and consists of perception, decision making and control in a handcrafted framework. With the advances in artificial intelligence (AI) and computing resources, researchers have been pushing…

Despite impressive advancements in Autonomous Driving Systems (ADS), navigation in complex road conditions remains a challenging problem. There is considerable evidence that evaluating the subjective risk level of various decisions can…

Achieving a proper balance between planning quality, safety and efficiency is a major challenge for autonomous driving. Optimisation-based motion planners are capable of producing safe, smooth and comfortable plans, but often at the cost of…

This paper presents a novel, fast and privacy preserving implementation of deep autoencoders. DAEF (Deep Autoencoder for Federated learning), unlike traditional neural networks, trains a deep autoencoder network in a non-iterative way,…

Policy gradient methods are among the most effective methods for large-scale reinforcement learning, and their empirical success has prompted several works that develop the foundation of their global convergence theory. However, prior works…

End-to-end autonomous driving, where the entire driving pipeline is replaced with a single neural network, has recently gained research attention because of its simpler structure and faster inference time. Despite this appealing approach…

On-policy imitation learning algorithms such as DAgger evolve a robot control policy by executing it, measuring performance (loss), obtaining corrective feedback from a supervisor, and generating the next policy. As the loss between…

Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and…

We present a novel end-to-end deep learning-based adaptation control algorithm for frequency-domain adaptive system identification. The proposed method exploits a deep neural network to map observed signal features to corresponding…

In the face of growing urban populations and the escalating number of vehicles on the roads, managing transportation efficiently and ensuring safety have become critical challenges. To tackle these issues, the development of intelligent…

The last decade's research in artificial intelligence had a significant impact on the advance of autonomous driving. Yet, safety remains a major concern when it comes to deploying such systems in high-risk environments. The objective of…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of 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…