相关论文: Learning from All Vehicles

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…

Reinforcement learning solely from an agent's self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly…

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…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

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…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

In autonomous driving, traditional Computer Vision (CV) agents often struggle in unfamiliar situations due to biases in the training data. Deep Reinforcement Learning (DRL) agents address this by learning from experience and maximizing…

This paper proposes a life-long adaptive path tracking policy learning method for autonomous vehicles that can self-evolve and self-adapt with multi-task knowledge. Firstly, the proposed method can learn a model-free control policy for path…

Implementing an autonomous vehicle that is able to output feasible, smooth and efficient trajectories is a long-standing challenge. Several approaches have been considered, roughly falling under two categories: rule-based and learning-based…

By observing their environment as well as other traffic participants, humans are enabled to drive road vehicles safely. Vehicle passengers, however, perceive a notable difference between non-experienced and experienced drivers. In…

My project tackles the question of whether Ray can be used to quickly train autonomous vehicles using a simulator (Carla), and whether a platform robust enough for further research purposes can be built around it. Ray is an open-source…

This paper presents a novel approach for learning self-awareness models for autonomous vehicles. The proposed technique is based on the availability of synchronized multi-sensor dynamic data related to different maneuvering tasks performed…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Evaluation methods for autonomous driving are crucial for algorithm optimization. However, due to the complexity of driving intelligence, there is currently no comprehensive evaluation method for the level of autonomous driving…

Robust perception-action models should be learned from training data with diverse visual appearances and realistic behaviors, yet current approaches to deep visuomotor policy learning have been generally limited to in-situ models learned…

It is expected that autonomous vehicles(AVs) and heterogeneous human-driven vehicles(HVs) will coexist on the same road. The safety and reliability of AVs will depend on their social awareness and their ability to engage in complex social…

One of the bottlenecks of training autonomous vehicle (AV) agents is the variability of training environments. Since learning optimal policies for unseen environments is often very costly and requires substantial data collection, it becomes…

Learning to perform accurate and rich simulations of human driving behaviors from data for autonomous vehicle testing remains challenging due to human driving styles' high diversity and variance. We address this challenge by proposing a…