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

The increased reliance of self-driving vehicles on neural networks opens up the challenge of their verification. In this paper we present an experience report, describing a case study which we undertook to explore the design and training of…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…

Autonomous driving is a challenging task that has gained broad attention from both academia and industry. Current solutions using convolutional neural networks require large amounts of computational resources, leading to high power…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

Comma.ai's approach to Artificial Intelligence for self-driving cars is based on an agent that learns to clone driver behaviors and plans maneuvers by simulating future events in the road. This paper illustrates one of our research…

As semi-automated vehicles (SAVs) become more common, ensuring effective human-vehicle interaction during control handovers remains a critical safety challenge. Existing studies often rely on single-session simulator experiments or…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

There are many artificial intelligence algorithms for autonomous driving, but directly installing these algorithms on vehicles is unrealistic and expensive. At the same time, many of these algorithms need an environment to train and…

Vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, while still lacking…

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes.…

A central challenge for autonomous vehicles is coordinating with humans. Therefore, incorporating realistic human agents is essential for scalable training and evaluation of autonomous driving systems in simulation. Simulation agents are…

Imitation learning for end-to-end autonomous driving has drawn attention from academic communities. Current methods either only use images as the input which is ambiguous when a car approaches an intersection, or use additional command…

We present a learning-based planner that aims to robustly drive a vehicle by mimicking human drivers' driving behavior. We leverage a mid-to-mid approach that allows us to manipulate the input to our imitation learning network freely. With…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…

The use of machine learning in the self-driving industry has boosted a number of recent advancements. In particular, the usage of large deep learning models in the perception and prediction stack have proved quite successful, but there…

We present a machine learning based approach to address the study of transport processes, ubiquitous in continuous mechanics, with particular attention to those phenomena ruled by complex micro-physics, impractical to theoretical…

With growing complexity and criticality of automated driving functions in road traffic and their operational design domains (ODD), there is increasing demand for covering significant proportions of development, validation, and verification…

Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…

Modern autonomous driving algorithms often rely on learning the mapping from visual inputs to steering actions from human driving data in a variety of scenarios and visual scenes. The required data collection is not only labor intensive,…