相关论文: Steadily Learn to Drive with Virtual Memory

Experience-driven learning has emerged as a promising paradigm for enabling agents to improve from interaction trajectories by accumulating and reusing past experience. However, existing approaches are predominantly developed in textual…

Recent studies have explored leveraging the world knowledge and cognitive capabilities of Vision-Language Models (VLMs) to address the long-tail problem in end-to-end autonomous driving. However, existing methods typically formulate…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

Current Vision-Language-Action (VLA) paradigms in end-to-end autonomous driving rely on offline training from static datasets, leaving them vulnerable to distribution shift. Recent post-training methods use takeover data to mitigate this by…

Deep learning-based Autonomous Driving (AD) models often exhibit poor generalization due to data heterogeneity in an ever domain-shifting environment. While Federated Learning (FL) could improve the generalization of an AD model (known as…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…

This paper proposes a life-long adaptive path tracking policy learning method for autonomous vehicles that can self-evolve and self-adapt with multi-task knowledge. Firstly, the proposed method can learn a model-free control policy for path…

Despite advancements in vehicle security systems, over the last decade, auto-theft rates have increased, and cyber-security attacks on internet-connected and autonomous vehicles are becoming a new threat. In this paper, a deep learning…

Learning representations for solutions of constrained optimization problems (COPs) with unknown cost functions is challenging, as models like (Variational) Autoencoders struggle to enforce constraints when decoding structured outputs. We…

A burgeoning area within reinforcement learning (RL) is the design of sequential decision-making agents centered around large language models (LLMs). While autonomous decision-making agents powered by modern LLMs could facilitate numerous…

When manipulating a novel object with complex dynamics, a state representation is not always available, for example for deformable objects. Learning both a representation and dynamics from observations requires large amounts of data. We…

World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can predict and adapt to dynamic environments. Existing methods…

We explore the potential of large-scale generative video models for autonomous driving, introducing an open-source auto-regressive video model (VaViM) and its companion video-action model (VaVAM) to investigate how video pre-training…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…

This work introduces a hierarchical strategy for terrain-aware bipedal locomotion that integrates reduced-dimensional perceptual representations to enhance reinforcement learning (RL)-based high-level (HL) policies for real-time gait…

Vehicle control algorithms exploiting connectivity and automation, such as Connected and Automated Vehicles (CAVs) or Advanced Driver Assistance Systems (ADAS), have the opportunity to improve energy savings. However, lower levels of…

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand.…

LLM-based agents have been extensively applied across various domains, where memory stands out as one of their most essential capabilities. Previous memory mechanisms of LLM-based agents are manually predefined by human experts, leading to…

To achieve autonomy in a priori unknown real-world scenarios, agents should be able to: i) act from high-dimensional sensory observations (e.g., images), ii) learn from past experience to adapt and improve, and iii) be capable of long…