相关论文: Learning Interactive Driving Policies via Data-dri…

The behavior decision-making subsystem is a key component of the autonomous driving system, which reflects the decision-making ability of the vehicle and the driver, and is an important symbol of the high-level intelligence of the vehicle.…

Building simulation environments for developing and testing autonomous vehicles necessitates that the simulators accurately model the statistical realism of the real-world environment, including the interaction with other vehicles driven by…

Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its…

The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

Autonomous driving involves complex decision-making in highly interactive environments, requiring thoughtful negotiation with other traffic participants. While reinforcement learning provides a way to learn such interaction behavior,…

While autonomous vehicles have achieved reliable performance within specific operating regions, their deployment to new cities remains costly and slow. A key bottleneck is the need to collect many human demonstration trajectories when…

Autonomous driving (AD) agents generate driving policies based on online perception results, which are obtained at multiple levels of abstraction, e.g., behavior planning, motion planning and control. Driving policies are crucial to the…

Vehicular traffic is a classical example of a multi-agent system in which autonomous drivers operate in a shared environment. The article provides an overview of the state-of-the-art in microscopic traffic modeling and the implications for…

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Real-world driving involves intricate interactions among vehicles navigating through dense traffic scenarios. Recent research focuses on enhancing the interaction awareness of autonomous vehicles to leverage these interactions in…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

Autonomous vehicles (AVs) have the potential to significantly revolutionize society by providing a secure and efficient mode of transportation. Recent years have witnessed notable advancements in autonomous driving perception and…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Rather than learning new control policies for each new task, it is possible, when tasks share some structure, to compose a "meta-policy" from previously learned policies. This paper reports results from experiments using Deep Reinforcement…

A realistic long-term microscopic traffic simulator is necessary for understanding how microscopic changes affect traffic patterns at a larger scale. Traditional simulators that model human driving behavior with heuristic rules often fail…

A major challenge in autonomous vehicle research is modeling agent behaviors, which has critical applications including constructing realistic and reliable simulations for off-board evaluation and forecasting traffic agents motion for…