相关论文: End-to-end Autonomous Driving with Semantic Depth …

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

This paper investigates how end-to-end driving models can be improved to drive more accurately and human-like. To tackle the first issue we exploit semantic and visual maps from HERE Technologies and augment the existing Drive360 dataset…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

The current autonomous stack is well modularized and consists of perception, decision making and control in a handcrafted framework. With the advances in artificial intelligence (AI) and computing resources, researchers have been pushing…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

Multi-modal end-to-end autonomous driving has shown promising advancements in recent work. By embedding more modalities into end-to-end networks, the system's understanding of both static and dynamic aspects of the driving environment is…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios.…

Advanced sensors are a key to enable self-driving cars technology. Laser scanner sensors (LiDAR, Light Detection And Ranging) became a fundamental choice due to its long-range and robustness to low light driving conditions. The problem of…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

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…

Imitation learning for end-to-end autonomous driving has drawn attention from academic communities. Current methods either only use images as the input which is ambiguous when a car approaches an intersection, or use additional command…

End-to-end autonomous driving systems are increasingly integrating Vision-Language Model (VLM) architectures, incorporating text reasoning or visual reasoning to enhance the robustness and accuracy of driving decisions. However, the…

Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…

An intelligent driving system should dynamically formulate appropriate driving strategies based on the current environment and vehicle status while ensuring system security and reliability. However, methods based on reinforcement learning…

We present OpenDriveVLA, a Vision Language Action model designed for end-to-end autonomous driving, built upon open-source large language models. OpenDriveVLA generates spatially grounded driving actions by leveraging multimodal inputs,…

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into…

In the field of autonomous driving, end-to-end deep learning models show great potential by learning driving decisions directly from sensor data. However, training these models requires large amounts of labeled data, which is time-consuming…

Imitation learning is becoming more and more successful for autonomous driving. End-to-end (raw signal to command) performs well on relatively simple tasks (lane keeping and navigation). Mid-to-mid (environment abstraction to mid-level…

Perception-driven approach and end-to-end system are two major vision-based frameworks for self-driving cars. However, it is difficult to introduce attention and historical information of autonomous driving process, which are the essential…