相关论文: Multi-task Learning with Attention for End-to-end …

An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…

Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS),…

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…

Autonomous driving has attracted great attention from both academics and industries. To realise autonomous driving, Deep Imitation Learning (DIL) is treated as one of the most promising solutions, because it improves autonomous driving…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

In the behavioral cloning approach to end-to-end driving, a dataset of expert driving is collected and the model learns to guess what the expert would do in different situations. Situations are summarized in observations and the outputs are…

Autonomous driving has achieved significant progress in recent years, but autonomous cars are still unable to tackle high-risk situations where a potential accident is likely. In such near-accident scenarios, even a minor change in the…

In this paper, we propose an end-to-end self-driving network featuring a sparse attention module that learns to automatically attend to important regions of the input. The attention module specifically targets motion planning, whereas prior…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

To ensure user acceptance of autonomous vehicles (AVs), control systems are being developed to mimic human drivers from demonstrations of desired driving behaviors. Imitation learning (IL) algorithms serve this purpose, but struggle to…

Vehicle taillight recognition is an important application for automated driving, especially for intent prediction of ado vehicles and trajectory planning of the ego vehicle. In this work, we propose an end-to-end deep learning framework to…

Efficient traffic control (TSC) is essential for urban mobility, but traditional systems struggle to handle the complexity of real-world traffic. Multi-agent Reinforcement Learning (MARL) offers adaptive solutions, but online MARL requires…

The size and the computational load of fine-tuning large-scale pre-trained neural network are becoming two major obstacles in adopting machine learning in many applications. Continual learning (CL) can serve as a remedy through enabling…

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…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

Designing a safe and human-like decision-making system for an autonomous vehicle is a challenging task. Generative imitation learning is one possible approach for automating policy-building by leveraging both real-world and simulated…

Current state-of-the-art vision-and-language models are evaluated on tasks either individually or in a multi-task setting, overlooking the challenges of continually learning (CL) tasks as they arrive. Existing CL benchmarks have facilitated…

Continual learning (CL) is a paradigm that aims to replicate the human ability to learn and accumulate knowledge continually without forgetting previous knowledge and transferring it to new tasks. Recent instruction tuning (IT) involves…

Deep learning and computer vision techniques have become increasingly important in the development of self-driving cars. These techniques play a crucial role in enabling self-driving cars to perceive and understand their surroundings,…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…