相关论文: Experiments in Autonomous Driving Through Imitatio…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

In this work, we present a rigorous end-to-end control strategy for autonomous vehicles aimed at minimizing lap times in a time attack racing event. We also introduce AutoRACE Simulator developed as a part of this research project, which…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

With the evolution of various advanced driver assistance system (ADAS) platforms, the design of autonomous driving system is becoming more complex and safety-critical. The autonomous driving system simultaneously activates multiple ADAS…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Machine learning models, which are frequently used in self-driving cars, are trained by matching the captured images of the road and the measured angle of the steering wheel. The angle of the steering wheel is generally fetched from…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

In this paper we propose a number of tested ways in which a low-budget demo car could be made to navigate an indoor environment. Canny Edge Detection, Supervised Floor Detection and Imitation Learning were used separately and are contrasted…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…

Self-driving vehicles have expanded dramatically over the last few years. Udacity has release a dataset containing, among other data, a set of images with the steering angle captured during driving. The Udacity challenge aimed to predict…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…

Vision-based learning methods for self-driving cars have primarily used supervised approaches that require a large number of labels for training. However, those labels are usually difficult and expensive to obtain. In this paper, we…

Current deep learning based autonomous driving approaches yield impressive results also leading to in-production deployment in certain controlled scenarios. One of the most popular and fascinating approaches relies on learning vehicle…

Learning-based 3D reconstruction has emerged as a transformative technique in autonomous driving, enabling precise modeling of environments through advanced neural representations. It has inspired pioneering solutions for vital tasks in…

A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…