相关论文: Separating the World and Ego Models for Self-Drivi…

In this paper, we propose a novel self-supervised learning model for estimating continuous ego-motion from video. Our model learns to estimate camera motion by watching RGBD or RGB video streams and determining translational and rotation…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

The existence of 'what' and 'where' pathways of information processing in the brain was proposed almost 30 years ago, but there is still a lack of a clear mathematical model that could show how these pathways work together. We propose a…

There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

In this paper, we train a recurrent neural network to learn dynamics of a chaotic road environment and to project the future of the environment on an image. Future projection can be used to anticipate an unseen environment for example, in…

How can we reliably simulate future driving scenarios under a wide range of ego driving behaviors? Recent driving world models, developed exclusively on real-world driving data composed mainly of safe expert trajectories, struggle to follow…

Effective human-vehicle collaboration requires an appropriate un-derstanding of vehicle behavior for safety and trust. Improvingon our prior work by adding a future prediction module, we in-troduce our framework, calledAutoPreview, to…

For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

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…

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…

End-to-end autonomous driving seeks to solve the perception, decision, and control problems in an integrated way, which can be easier to generalize at scale and be more adapting to new scenarios. However, high costs and risks make it very…

To enable a safe and effective human-robot cooperation, it is crucial to develop models for the identification of human activities. Egocentric vision seems to be a viable solution to solve this problem, and therefore many works provide deep…

End-to-end autonomous driving systems increasingly rely on vision-centric world models to understand and predict their environment. However, a common ineffectiveness in these models is the full reconstruction of future scenes, which expends…

In this paper, we investigate the problem of anticipating future dynamics, particularly the future location of other vehicles and pedestrians, in the view of a moving vehicle. We approach two fundamental challenges: (1) the partial…