相关论文: Injecting Knowledge in Data-driven Vehicle Traject…

Accurate and robust trajectory predictions of road users are needed to enable safe automated driving. To do this, machine learning models are often used, which can show erratic behavior when presented with previously unseen inputs. In this…

Motion forecasting for on-road traffic agents presents both a significant challenge and a critical necessity for ensuring safety in autonomous driving systems. In contrast to most existing data-driven approaches that directly predict future…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

Vehicular mobility underscores the need for collaborative misbehavior detection at the vehicular edge. However, locally trained misbehavior detection models are susceptible to adversarial attacks that aim to deliberately influence learning…

The comprehensive understanding capabilities of world models for driving scenarios have significantly improved the planning accuracy of end-to-end autonomous driving frameworks. However, the redundant modeling of static regions and the lack…

We investigate a learning decision support system for vehicle routing, where the routing engine learns implicit preferences that human planners have when manually creating route plans (or routings). The goal is to use these learned…

Predicting the motion of a mobile agent from a third-person perspective is an important component for many robotics applications, such as autonomous navigation and tracking. With accurate motion prediction of other agents, robots can plan…

The vehicle dynamics model serves as a vital component of autonomous driving systems, as it describes the temporal changes in vehicle state. In a long period, researchers have made significant endeavors to accurately model vehicle dynamics.…

Trajectory prediction is crucial to advance autonomous driving, improving safety, and efficiency. Although end-to-end models based on deep learning have great potential, they often do not consider vehicle dynamic limitations, leading to…

An accurate vehicle dynamic model is the key to bridge the gap between simulation and real road test in autonomous driving. In this paper, we present a Dynamic model-Residual correction model Framework (DRF) for vehicle dynamic modeling. On…

Terrain traversability analysis is a fundamental issue to achieve the autonomy of a robot at off-road environments. Geometry-based and appearance-based methods have been studied in decades, while behavior-based methods exploiting learning…

This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…

The goal of this paper is to investigate a decision support system for vehicle routing, where the routing engine learns from the subjective decisions that human planners have made in the past, rather than optimizing a distance-based…

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…

Very deep convolutional neural networks offer excellent recognition results, yet their computational expense limits their impact for many real-world applications. We introduce BlockDrop, an approach that learns to dynamically choose which…

Trajectory representation learning is a fundamental task for applications in fields including smart city, and urban planning, as it facilitates the utilization of trajectory data (e.g., vehicle movements) for various downstream…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

The abilities to understand the social interaction behaviors between a vehicle and its surroundings while predicting its trajectory in an urban environment are critical for road safety in autonomous driving. Social interactions are hard to…

In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the manufacturing process using robots, especially in…