相关论文: End-to-end Interpretable Neural Motion Planner

This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…

Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…

This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…

We propose an integrated prediction and planning system for autonomous driving which uses rational inverse planning to recognise the goals of other vehicles. Goal recognition informs a Monte Carlo Tree Search (MCTS) algorithm to plan…

Evaluating the performance of perception modules in autonomous driving is one of the most critical tasks in developing the complex intelligent system. While module-level unit test metrics adopted from traditional computer vision tasks are…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

For autonomous vehicles integrating onto roadways with human traffic participants, it requires understanding and adapting to the participants' intention and driving styles by responding in predictable ways without explicit communication.…

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…

Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

We present a framework for vision-based model predictive control (MPC) for the task of aggressive, high-speed autonomous driving. Our approach uses deep convolutional neural networks to predict cost functions from input video which are…

Classical manipulator motion planners work across different robot embodiments. However they plan on a pre-specified static environment representation, and are not scalable to unseen dynamic environments. Neural Motion Planners (NMPs) are an…

Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a model-free reinforcement learning approach to address this…

Neural network (NN)-based methods have emerged as an attractive approach for robot motion planning due to strong learning capabilities of NN models and their inherently high parallelism. Despite the current development in this direction,…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

Sampling-based motion planning (SBMP) algorithms are renowned for their robust global search capabilities. However, the inherent randomness in their sampling mechanisms often result in inconsistent path quality and limited search…

Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer…