相关论文: CADRE: A Cascade Deep Reinforcement Learning Frame…

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…

A fundamental challenge in car-following modeling lies in accurately representing the multi-scale complexity of driving behaviors, particularly the intra-driver heterogeneity where a single driver's actions fluctuate dynamically under…

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…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…

Real-world autonomous missions often require rich interaction with nearby objects, such as doors or switches, along with effective navigation. However, such complex behaviors are difficult to learn because they involve both high-level…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

Surrounding perceptions are quintessential for safe driving for connected and autonomous vehicles (CAVs), where the Bird's Eye View has been employed to accurately capture spatial relationships among vehicles. However, severe inherent…

The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal…

In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time…

Visual perception in autonomous driving is a crucial part of a vehicle to navigate safely and sustainably in different traffic conditions. However, in bad weather such as heavy rain and haze, the performance of visual perception is greatly…

Autonomous-driving research has recently embraced deep Reinforcement Learning (RL) as a promising framework for data-driven decision making, yet a clear picture of how these algorithms are currently employed, benchmarked and evaluated is…

Autonomous driving faces critical challenges in rare long-tail events and complex multi-agent interactions, which are scarce in real-world data yet essential for robust safety validation. This paper presents a high-fidelity scenario…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…

It is anticipated that the era of fully autonomous vehicle operations will be preceded by a lengthy "Transition Period" where the traffic stream will be mixed, that is, consisting of connected autonomous vehicles (CAVs), human-driven…

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…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…