相关论文: Jointly Learning Agent and Lane Information for Mu…

Accurately predicting interactive road agents' future trajectories and planning a socially compliant and human-like trajectory accordingly are important for autonomous vehicles. In this paper, we propose a planning-centric prediction neural…

Precisely predicting the future trajectories of surrounding traffic participants is a crucial but challenging problem in autonomous driving, due to complex interactions between traffic agents, map context and traffic rules. Vector-based…

This paper addresses the problem of path prediction for multiple interacting agents in a scene, which is a crucial step for many autonomous platforms such as self-driving cars and social robots. We present \textit{SoPhie}; an interpretable…

Behavior prediction plays an important role in integrated autonomous driving software solutions. In behavior prediction research, interactive behavior prediction is a less-explored area, compared to single-agent behavior prediction.…

Multi-Agent Path Finding (MAPF) poses a significant and challenging problem critical for applications in robotics and logistics, particularly due to its combinatorial complexity and the partial observability inherent in realistic…

The traffic assignment problem (TAP) aims to predict how traffic flows distribute themselves across a road network, traditionally requiring computationally expensive iterative simulations to reach a user equilibrium (UE) where no driver can…

Forecasting the long-term future motion of road actors is a core challenge to the deployment of safe autonomous vehicles (AVs). Viable solutions must account for both the static geometric context, such as road lanes, and dynamic social…

Reinforcement learning (RL) holds significant promise for adaptive traffic signal control. While existing RL-based methods demonstrate effectiveness in reducing vehicular congestion, their predominant focus on vehicle-centric optimization…

Autonomous driving technology can improve traffic safety and reduce traffic accidents. In addition, it improves traffic flow, reduces congestion, saves energy and increases travel efficiency. In the relatively mature automatic driving…

Automated lane changing is a critical feature for advanced autonomous driving systems. In recent years, reinforcement learning (RL) algorithms trained on traffic simulators yielded successful results in computing lane changing policies that…

We consider the problem of multi-agent navigation and collision avoidance when observations are limited to the local neighborhood of each agent. We propose InforMARL, a novel architecture for multi-agent reinforcement learning (MARL) which…

Transfer Learning has shown great potential to enhance single-agent Reinforcement Learning (RL) efficiency. Similarly, Multiagent RL (MARL) can also be accelerated if agents can share knowledge with each other. However, it remains a problem…

Multi-modal learning has emerged as a key technique for improving performance across domains such as autonomous driving, robotics, and reasoning. However, in certain scenarios, particularly in resource-constrained environments, some…

Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…

Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex…

Reinforcement Learning (RL) in Traffic Signal Control (TSC) faces significant hurdles in real-world deployment due to limited generalization to dynamic traffic flow variations. Existing approaches often overfit static patterns and use…

Precisely modeling interactions and accurately predicting trajectories of surrounding vehicles are essential to the decision-making and path-planning of intelligent vehicles. This paper proposes a novel framework based on ensemble learning…

Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain,…

The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…

Discretionary lane-change is one of the critical challenges for autonomous vehicle (AV) design due to its significant impact on traffic efficiency. Existing intelligent lane-change solutions have primarily focused on optimizing the…