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

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…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

Recent advances in AI and intelligent vehicle technology hold promise to revolutionize mobility and transportation, in the form of advanced driving assistance (ADAS) interfaces. Although it is widely recognized that certain cognitive…

Intrinsically, driving is a Markov Decision Process which suits well the reinforcement learning paradigm. In this paper, we propose a novel agent which learns to drive a vehicle without any human assistance. We use the concept of…

Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample…

In order to mitigate the sample complexity of real-world reinforcement learning, common practice is to first train a policy in a simulator where samples are cheap, and then deploy this policy in the real world, with the hope that it…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…

Generative models trained on internet data have revolutionized how text, image, and video content can be created. Perhaps the next milestone for generative models is to simulate realistic experience in response to actions taken by humans,…

Active traffic management with autonomous vehicles offers the potential for reduced congestion and improved traffic flow. However, developing effective algorithms for real-world scenarios requires overcoming challenges related to…

Autonomous driving relies on a huge volume of real-world data to be labeled to high precision. Alternative solutions seek to exploit driving simulators that can generate large amounts of labeled data with a plethora of content variations.…

From autonomous driving to package delivery, ensuring safe yet efficient multi-agent interaction is challenging as the interaction dynamics are influenced by hard-to-model factors such as social norms and contextual cues. Understanding…

In this work, we propose a data-driven approach to optimize the parameters of a simulation such that control policies can be directly transferred from simulation to a real-world quadrotor. Our neural network-based policies take only onboard…

Training self-driving cars is often challenging since they require a vast amount of labeled data in multiple real-world contexts, which is computationally and memory intensive. Researchers often resort to driving simulators to train the…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Dynamical systems across many disciplines are modeled as interacting particles or agents, with interaction rules that depend on a very small number of variables (e.g. pairwise distances, pairwise differences of phases, etc...), functions of…

Control of networked systems, comprised of interacting agents, is often achieved through modeling the underlying interactions. Constructing accurate models of such interactions--in the meantime--can become prohibitive in applications.…

In light of growing attention of intelligent vehicle systems, we propose developing a driver model that uses a hybrid system formulation to capture the intent of the driver. This model hopes to capture human driving behavior in a way that…

The common pipeline in autonomous driving systems is highly modular and includes a perception component which extracts lists of surrounding objects and passes these lists to a high-level decision component. In this case, leveraging the…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…