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

The motion planners used in self-driving vehicles need to generate trajectories that are safe, comfortable, and obey the traffic rules. This is usually achieved by two modules: behavior planner, which handles high-level decisions and…

Cotraining with demonstration data generated both in simulation and on real hardware has emerged as a promising recipe for scaling imitation learning in robotics. This work seeks to elucidate basic principles of this sim-and-real cotraining…

State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the computation time increases exponentially with each addition of…

In this work we are the first to present an offline policy gradient method for learning imitative policies for complex urban driving from a large corpus of real-world demonstrations. This is achieved by building a differentiable data-driven…

Deep learning is now the gold standard in computer vision-based quality inspection systems. In order to detect defects, supervised learning is often utilized, but necessitates a large amount of annotated images, which can be costly:…

ML-based motion planning is a promising approach to produce agents that exhibit complex behaviors, and automatically adapt to novel environments. In the context of autonomous driving, it is common to treat all available training data…

The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. For complex, cluttered scenes, motion planning approaches can often…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

Perceptual metrics are traditionally used to evaluate the quality of natural signals, such as images and audio. They are designed to mimic the perceptual behaviour of human observers and usually reflect structures found in natural signals.…

The success of deep learning depends heavily on the availability of large datasets, but in robotic manipulation there are many learning problems for which such datasets do not exist. Collecting these datasets is time-consuming and…

Simulation models often have parameters as input and return outputs to understand the behavior of complex systems. Calibration is the process of estimating the values of the parameters in a simulation model in light of observed data from…

Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…

External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…

Training a good deep learning model often requires a lot of annotated data. As a large amount of labeled data is typically difficult to collect and even more difficult to annotate, data augmentation and data generation are widely used in…

Vision transformers (ViTs) are top performing models on many computer vision benchmarks and can accurately predict human behavior on object recognition tasks. However, researchers question the value of using ViTs as models of biological…

Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source…

Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…

Spurious correlations allow flexible models to predict well during training but poorly on related test distributions. Recent work has shown that models that satisfy particular independencies involving correlation-inducing \textit{nuisance}…

This paper aims to improve the path quality and computational efficiency of kinodynamic planners used for vehicular systems. It proposes a learning framework for identifying promising controls during the expansion process of sampling-based…

We challenge the perceived consensus that the application of deep learning to solve the automated driving planning task necessarily requires huge amounts of real-world data or highly realistic simulation. Focusing on a roundabout scenario,…