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

Convolutional Neural Networks (CNN) have been successfully applied to autonomous driving tasks, many in an end-to-end manner. Previous end-to-end steering control methods take an image or an image sequence as the input and directly predict…

In-context Learning (ICL) utilizes structured demonstration-query inputs to induce few-shot learning on Language Models (LMs), which are not originally pre-trained on ICL-style data. To bridge the gap between ICL and pre-training, some…

Autonomous driving requires operation in different behavioral modes ranging from lane following and intersection crossing to turning and stopping. However, most existing deep learning approaches to autonomous driving do not consider the…

Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods---such as deep…

Multimodal in-context learning (ICL) is becoming a key capability that allows large vision-language models (LVLMs) to adapt to novel tasks without parameter updates, which expands their usefulness in many real-world applications. However,…

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…

In this paper we describe the design and the ideas motivating a new Continual Learning benchmark for Autonomous Driving (CLAD), that focuses on the problems of object classification and object detection. The benchmark utilises SODA10M, a…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

This paper proposes a novel inverse reinforcement learning framework using a diffusion-based adaptive lookahead planner (IRL-DAL) for autonomous vehicles. Training begins with imitation from an expert finite state machine (FSM) controller…

Connected autonomous vehicles (CAVs) must simultaneously perform multiple tasks, such as object detection, semantic segmentation, depth estimation, trajectory prediction, motion prediction, and behaviour prediction, to ensure safe and…

Current end-to-end deep learning driving models have two problems: (1) Poor generalization ability of unobserved driving environment when diversity of training driving dataset is limited (2) Lack of accident explanation ability when driving…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

In-context learning (ICL) derives its power from enabling Large Language Models to adapt to new tasks via prompt-based reasoning alone, entirely bypassing the need for parameter updates. Existing theories primarily study ICL in single-task…

We propose a novel multi-task learning architecture, which allows learning of task-specific feature-level attention. Our design, the Multi-Task Attention Network (MTAN), consists of a single shared network containing a global feature pool,…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

Class-incremental learning (CIL) aims to train a model to learn new classes from non-stationary data streams without forgetting old ones. In this paper, we propose a new kind of connectionist model by tailoring neural unit dynamics that…

In-context learning (ICL), a property demonstrated by transformer-based sequence models, refers to the automatic inference of an input-output mapping based on examples of the mapping provided as context. ICL requires no explicit learning,…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…