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

Developing autonomous vehicles (AVs) helps improve the road safety and traffic efficiency of intelligent transportation systems (ITS). Accurately predicting the trajectories of traffic participants is essential to the decision-making and…

Trajectory prediction is crucial for autonomous driving, enabling vehicles to navigate safely by anticipating the movements of surrounding road users. However, current deep learning models often lack trustworthiness as their predictions can…

The deployment of reinforcement learning (RL) in the real world comes with challenges in calibrating user trust and expectations. As a step toward developing RL systems that are able to communicate their competencies, we present a method of…

Accurate prediction of future agent trajectories is a critical challenge for ensuring safe and efficient autonomous navigation, particularly in complex urban environments characterized by multiple plausible future scenarios. In this paper,…

When driving, people make decisions based on current traffic as well as their desired route. They have a mental map of known routes and are often able to navigate without needing directions. Current self-driving models improve their…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

With the unprecedented shift towards automated urban environments in recent years, a new paradigm is required to study pedestrian behaviour. Studying pedestrian behaviour in futuristic scenarios requires modern data sources that consider…

A random recurrent neural network, called a reservoir, can be used to learn robot movements conditioned on context inputs that encode task goals. The Learning is achieved by mapping the random dynamics of the reservoir modulated by context…

Trajectory prediction is essential for autonomous vehicles (AVs) to plan correct and safe driving behaviors. While many prior works aim to achieve higher prediction accuracy, few study the adversarial robustness of their methods. To bridge…

Conventional control, such as model-based control, is commonly utilized in autonomous driving due to its efficiency and reliability. However, real-world autonomous driving contends with a multitude of diverse traffic scenarios that are…

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model…

Predicting vehicle trajectories plays an important role in autonomous driving and ITS applications. Although multiple deep learning algorithms are devised to predict vehicle trajectories, their reliant on specific graph structure (e.g.,…

Robust planning in interactive scenarios requires predicting the uncertain future to make risk-aware decisions. Unfortunately, due to long-tail safety-critical events, the risk is often under-estimated by finite-sampling approximations of…

Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

We propose a general way to integrate procedural knowledge of a domain into deep learning models. We apply it to the case of video prediction, building on top of object-centric deep models and show that this leads to a better performance…

Data-driven modeling and machine learning are widely used to model the behavior of dynamic systems. One application is the residual evaluation of technical systems where model predictions are compared with measurement data to create…

Understanding the interaction between different road users is critical for road safety and automated vehicles (AVs). Existing mathematical models on this topic have been proposed based mostly on either cognitive or machine learning (ML)…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…