相关论文: Towards Optimal Strategies for Training Self-Drivi…

Synthetic data generation is an appealing approach to generate novel traffic scenarios in autonomous driving. However, deep learning perception algorithms trained solely on synthetic data encounter serious performance drops when they are…

Large-scale labeled training datasets have enabled deep neural networks to excel on a wide range of benchmark vision tasks. However, in many applications it is prohibitively expensive or time-consuming to obtain large quantities of labeled…

The ability of deep learning models to generalize well across different scenarios depends primarily on the quality and quantity of annotated data. Labeling large amounts of data for all possible scenarios that a model may encounter would…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Autonomous driving technologies have achieved significant advances in recent years, yet their real-world deployment remains constrained by data scarcity, safety requirements, and the need for generalization across diverse environments. In…

Many machine learning applications can benefit from simulated data for systematic validation - in particular if real-life data is difficult to obtain or annotate. However, since simulations are prone to domain shift w.r.t. real-life data,…

In this paper, we present a state-of-the-art reinforcement learning method for autonomous driving. Our approach employs temporal difference learning in a Bayesian framework to learn vehicle control signals from sensor data. The agent has…

In the field of autonomous driving, sensor simulation is essential for generating rare and diverse scenarios that are difficult to capture in real-world environments. Current solutions fall into two categories: 1) CG-based methods, such as…

Robust perception is crucial in autonomous vehicle navigation and localization. Visual processing tasks, like semantic segmentation, should work in varying weather conditions and during different times of day. Semantic segmentation is where…

The role of simulation in autonomous driving is becoming increasingly important due to the need for rapid prototyping and extensive testing. The use of physics-based simulation involves multiple benefits and advantages at a reasonable cost…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

Since annotating pixel-level labels for semantic segmentation is laborious, leveraging synthetic data is an attractive solution. However, due to the domain gap between synthetic domain and real domain, it is challenging for a model trained…

Supervised learning tends to produce more accurate classifiers than unsupervised learning in general. This implies that training data is preferred with annotations. When addressing visual perception challenges, such as localizing certain…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

Datasets are essential for training and testing vehicle perception algorithms. However, the collection and annotation of real-world images is time-consuming and expensive. Driving simulators offer a solution by automatically generating…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

Deep learning models obtain impressive accuracy in road scenes understanding, however they need a large quantity of labeled samples for their training. Additionally, such models do not generalise well to environments where the statistical…

Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…

Sim2Real domain adaptation (DA) research focuses on the constrained setting of adapting from a labeled synthetic source domain to an unlabeled or sparsely labeled real target domain. However, for high-stakes applications (e.g. autonomous…