相关论文: What data do we need for training an AV motion pla…

With the Autonomous Vehicle (AV) industry shifting towards machine-learned approaches for motion planning, the performance of self-driving systems is starting to rely heavily on large quantities of expert driving demonstrations. However,…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Given a small training data set and a learning algorithm, how much more data is necessary to reach a target validation or test performance? This question is of critical importance in applications such as autonomous driving or medical…

Deep Learning requires large amounts of data to train models that work well. In data-deficient settings, performance can be degraded. We investigate which Deep Learning methods benefit training models in a data-deficient setting, by…

When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in local minima. Is there a middle-ground between fully reactive…

The data used during training in any given application space is directly tied to the performance of the system once deployed. While there are many other factors that go into producing high performance models within machine learning, there…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Imitation learning provides a powerful framework for goal-conditioned visual navigation in mobile robots, enabling obstacle avoidance while respecting human preferences and social norms. However, its effectiveness depends critically on the…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

A mobility map, which provides maximum achievable speed on a given terrain, is essential for path planning of autonomous ground vehicles in off-road settings. While physics-based simulations play a central role in creating next-generation,…

Unmanned aerial vehicles combined with computer vision systems, such as convolutional neural networks, offer a flexible and affordable solution for terrain monitoring, mapping, and detection tasks. However, a key challenge remains the…

Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more…

In autonomous navigation, a planning system reasons about other agents to plan a safe and plausible trajectory. Before planning starts, agents are typically processed with computationally intensive models for recognition, tracking, motion…

Sampling-based planners are effective in many real-world applications such as robotics manipulation, navigation, and even protein modeling. However, it is often challenging to generate a collision-free path in environments where key areas…

Planning an optimal route in a complex environment requires efficient reasoning about the surrounding scene. While human drivers prioritize important objects and ignore details not relevant to the decision, learning-based planners typically…

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,…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Recent years have witnessed amazing outcomes from "Big Models" trained by "Big Data". Most popular algorithms for model training are iterative. Due to the surging volumes of data, we can usually afford to process only a fraction of the…