相关论文: SimNet: Learning Reactive Self-driving Simulations…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Fully autonomous driving has been widely studied and is becoming increasingly feasible. However, such autonomous driving has yet to be achieved on public roads, because of various uncertainties due to surrounding human drivers and…

We learn an interactive vision-based driving policy from pre-recorded driving logs via a model-based approach. A forward model of the world supervises a driving policy that predicts the outcome of any potential driving trajectory. To…

Deep Reinforcement Learning (RL) has been explored and verified to be effective in solving decision-making tasks in various domains, such as robotics, transportation, recommender systems, etc. It learns from the interaction with…

We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system…

Reinforcement learning is considered as a promising direction for driving policy learning. However, training autonomous driving vehicle with reinforcement learning in real environment involves non-affordable trial-and-error. It is more…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unlike existing neural motion…

Despite advancements in perception and planning for autonomous vehicles (AVs), validating their performance remains a significant challenge. The deployment of planning algorithms in real-world environments is often ineffective due to…

Realistic simulators are critical for training and verifying robotics systems. While most of the contemporary simulators are hand-crafted, a scaleable way to build simulators is to use machine learning to learn how the environment behaves…

As autonomous driving systems being deployed to millions of vehicles, there is a pressing need of improving the system's scalability, safety and reducing the engineering cost. A realistic, scalable, and practical simulator of the driving…

In the field of Autonomous Driving, the system controlling the vehicle can be seen as an agent acting in a complex environment and thus naturally fits into the modern framework of Reinforcement Learning. However, learning to drive can be a…

In the past two decades, autonomous driving has been catalyzed into reality by the growing capabilities of machine learning. This paradigm shift possesses significant potential to transform the future of mobility and reshape our society as…

Driving simulation plays a crucial role in developing reliable driving agents by providing controlled, evaluative environments. To enable meaningful assessments, a high-quality driving simulator must satisfy several key requirements:…

Interactive traffic simulation is crucial to autonomous driving systems by enabling testing for planners in a more scalable and safe way compared to real-world road testing. Existing approaches learn an agent model from large-scale driving…

Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…

We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…

Machine learning based autonomous driving systems often face challenges with safety-critical scenarios that are rare in real-world data, hindering their large-scale deployment. While increasing real-world training data coverage could…

Existing lane-level simulation road network generation is labor-intensive, resource-demanding, and costly due to the need for large-scale data collection and manual post-editing. To overcome these limitations, we propose automatically…