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

Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex…

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…

We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

We present a novel hybrid learning-assisted planning method, named HyPlan, for solving the collision-free navigation problem for self-driving cars in partially observable traffic environments. HyPlan combines methods for multi-agent…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of…

Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…

Mapping traversal costs in an environment and planning paths based on this map are important for autonomous navigation. We present a neurobotic navigation system that utilizes a Spiking Neural Network Wavefront Planner and E-prop learning…

Cost-maps are used by robotic vehicles to plan collision-free paths. The cost associated with each cell in the map represents the sensed environment information which is often determined manually after several trial-and-error efforts. In…

The prediction of surrounding agents' motion is a key for safe autonomous driving. In this paper, we explore navigation maps as an alternative to the predominant High Definition (HD) maps for learning-based motion prediction. Navigation…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

Driving scene understanding is to obtain comprehensive scene information through the sensor data and provide a basis for downstream tasks, which is indispensable for the safety of self-driving vehicles. Specific perception tasks, such as…

Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor observations without relying on a privileged collision checker…

Uncertainties in dynamic road environments pose significant challenges for behavior and trajectory planning in autonomous driving. This paper introduces Hi-Drive, a hierarchical planning algorithm addressing uncertainties at both behavior…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

Autonomous path planning requires a synergy between global reasoning and geometric precision, especially in complex or cluttered environments. While classical A* is valued for its optimality, it incurs prohibitive computational and memory…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…