相关论文: Lifelong Vehicle Trajectory Prediction Framework B…

Accurate trajectory prediction is fundamental to autonomous driving, as it underpins safe motion planning and collision avoidance in complex environments. However, existing benchmark datasets suffer from a pronounced long-tail distribution…

In real-world applications, learning-enabled systems often undergo iterative model development to address challenging or emerging tasks, which involve collecting new data, training a new model and validating the model. This continual model…

In this paper, a synergistic combination of deep reinforcement learning and hierarchical game theory is proposed as a modeling framework for behavioral predictions of drivers in highway driving scenarios. The need for a modeling framework…

Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This paper introduces a self-supervised continual learning framework…

Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

General-purpose trajectory planning algorithms for automated driving utilize complex reward functions to perform a combined optimization of strategic, behavioral, and kinematic features. The specification and tuning of a single reward…

Continual learning refers to the capability of a machine learning model to learn and adapt to new information, without compromising its performance on previously learned tasks. Although several studies have investigated continual learning…

Accurate driving behavior modeling is fundamental to safe and efficient trajectory prediction, yet remains challenging in complex traffic scenarios. This paper presents a novel Inverse Reinforcement Learning (IRL) framework that captures…

Attempts to train a comprehensive artificial intelligence capable of solving multiple tasks have been impeded by a chronic problem called catastrophic forgetting. Although simply replaying all previous data alleviates the problem, it…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

Given the inherent non-stationarity prevalent in real-world applications, continual Reinforcement Learning (RL) aims to equip the agent with the capability to address a series of sequentially presented decision-making tasks. Within this…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

A major obstacle to developing artificial intelligence applications capable of true lifelong learning is that artificial neural networks quickly or catastrophically forget previously learned tasks when trained on a new one. Numerous methods…

Machine Learning models in real-world applications must continuously learn new tasks to adapt to shifts in the data-generating distribution. Yet, for Continual Learning (CL), models often struggle to balance learning new tasks (plasticity)…

Precise modeling of microscopic vehicle trajectories is critical for traffic behavior analysis and autonomous driving systems. We propose Ctx2TrajGen, a context-aware trajectory generation framework that synthesizes realistic urban driving…

Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

Accurate and robust trajectory predictions of road users are needed to enable safe automated driving. To do this, machine learning models are often used, which can show erratic behavior when presented with previously unseen inputs. In this…

This study proposes a framework for human-like autonomous car-following planning based on deep reinforcement learning (deep RL). Historical driving data are fed into a simulation environment where an RL agent learns from trial and error…