相关论文: Memory based neural networks for end-to-end autono…

We tackle the problem of joint perception and motion forecasting in the context of self-driving vehicles. Towards this goal we propose PnPNet, an end-to-end model that takes as input sequential sensor data, and outputs at each time step…

Recent advances at the intersection of control theory, neuroscience, and machine learning have revealed novel mechanisms by which dynamical systems perform computation. These advances encompass a wide range of conceptual, mathematical, and…

A fundamental challenge in autonomous vehicles is adjusting the steering angle at different road conditions. Recent state-of-the-art solutions addressing this challenge include deep learning techniques as they provide end-to-end solution to…

Modular end-to-end (ME2E) autonomous driving paradigms combine modular interpretability with global optimization capability and have demonstrated strong performance. However, existing studies mainly focus on accuracy improvement, while…

Neural networks powered with external memory simulate computer behaviors. These models, which use the memory to store data for a neural controller, can learn algorithms and other complex tasks. In this paper, we introduce a new memory to…

Most self-driving systems rely on hand-coded perception outputs and engineered driving rules. Learning directly from human driving data with an end-to-end method can allow for a training architecture that is simpler and scales well with…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

Recently, end-to-end sequence-to-sequence models for speech recognition have gained significant interest in the research community. While previous architecture choices revolve around time-delay neural networks (TDNN) and long short-term…

A memory efficient approach to ensembling neural networks is to share most weights among the ensembled models by means of a single reference network. We refer to this strategy as Embedded Ensembling (EE); its particular examples are…

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for training and evaluating algorithms for autonomous racing. The…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

End-to-end autonomous driving has emerged as a dominant paradigm, yet its highly entangled black-box models pose significant challenges in terms of interpretability and safety assurance. To improve model transparency and training…

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end…

Motion forecasting is crucial in enabling autonomous vehicles to anticipate the future trajectories of surrounding agents. To do so, it requires solving mapping, detection, tracking, and then forecasting problems, in a multi-step pipeline.…

Since the advent of Multimodal Large Language Models (MLLMs), they have made a significant impact across a wide range of real-world applications, particularly in Autonomous Driving (AD). Their ability to process complex visual data and…

The need to recognise long-term dependencies in sequential data such as video streams has made Long Short-Term Memory (LSTM) networks a prominent Artificial Intelligence model for many emerging applications. However, the high computational…

Continuously estimating an agent's state space and a representation of its surroundings has proven vital towards full autonomy. A shared common ground among systems which successfully achieve this feat is the integration of previously…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…