相关论文: Robust Behavioral Cloning for Autonomous Vehicles …

The objective of this paper is to develop a sample efficient end-to-end deep learning method for self-driving cars, where we attempt to increase the value of the information extracted from samples, through careful analysis obtained from…

Tactical decision making and strategic motion planning for autonomous highway driving are challenging due to the complication of predicting other road users' behaviors, diversity of environments, and complexity of the traffic interactions.…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving. We combine MPC with a hierarchical learning-based policy,…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

State-of-the-art human-in-the-loop robot grasping is hugely suffered by Electromyography (EMG) inference robustness issues. As a workaround, researchers have been looking into integrating EMG with other signals, often in an ad hoc manner.…

Advanced imitation learning with structures like the transformer is increasingly demonstrating its advantages in robotics. However, deploying these large-scale models on embedded platforms remains a major challenge. In this paper, we…

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…

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…

Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation,…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

End-to-end autonomous driving is typically built upon imitation learning (IL), yet its performance is constrained by the quality of human demonstrations. To overcome this limitation, recent methods incorporate reinforcement learning (RL)…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…