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Humans learn all their life long. They accumulate knowledge from a sequence of learning experiences and remember the essential concepts without forgetting what they have learned previously. Artificial neural networks struggle to learn…

In a typical car-following scenario, target vehicle speed fluctuations act as an external disturbance to the host vehicle and in turn affect its energy consumption. To control a host vehicle in an energy-efficient manner using model…

Learning a set of tasks over time, also known as continual learning (CL), is one of the most challenging problems in artificial intelligence due to catastrophic forgetting. Large language models (LLMs) are often impractical to frequent…

Autonomous vehicles require accurate and reliable short-term trajectory predictions for safe and efficient driving. While most commercial automated vehicles currently use state machine-based algorithms for trajectory forecasting, recent…

In autonomous vehicle (AV) technology, the ability to accurately predict the movements of surrounding vehicles is paramount for ensuring safety and operational efficiency. Incorporating human decision-making insights enables AVs to more…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at generalizing across diverse real-world scenarios. For online…

Continual Learning (CL) aims at incrementally learning new tasks without forgetting the knowledge acquired from old ones. Experience Replay (ER) is a simple and effective rehearsal-based strategy, which optimizes the model with current…

Lane changes are complex driving behaviors and frequently involve safety-critical situations. This study aims to develop a lane-change-related evasive behavior model, which can facilitate the development of safety-aware traffic simulations…

Continual learning (CL) is a major challenge of machine learning (ML) and describes the ability to learn several tasks sequentially without catastrophic forgetting (CF). Recent works indicate that CL is a complex topic, even more so when…

Predicting surrounding vehicle behaviors are critical to autonomous vehicles when negotiating in multi-vehicle interaction scenarios. Most existing approaches require tedious training process with large amounts of data and may fail to…

Instruction tuning is now a widely adopted approach to aligning large multimodal models (LMMs) to follow human intent. It unifies the data format of vision-language tasks, enabling multi-task joint training. However, vision-language tasks…

Existing literature in Continual Learning (CL) has focused on overcoming catastrophic forgetting, the inability of the learner to recall how to perform tasks observed in the past. There are however other desirable properties of a CL system,…

Catastrophic forgetting remains a critical challenge in continual learning for large language models (LLMs), where models struggle to retain performance on historical tasks when fine-tuning on new sequential data without access to past…

Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…

Situational awareness in vehicular networks could be substantially improved utilizing reliable trajectory prediction methods. More precise situational awareness, in turn, results in notably better performance of critical safety…

Current state-of-the-art vision-and-language models are evaluated on tasks either individually or in a multi-task setting, overlooking the challenges of continually learning (CL) tasks as they arrive. Existing CL benchmarks have facilitated…

Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…