相关论文: Tree-structured Policy Planning with Learned Behav…

Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is adaptively replanning paths online as the terrain is…

Sequential decision-making in high-dimensional continuous action spaces, particularly in stochastic environments, faces significant computational challenges. We explore this challenge in the traditional offline RL setting, where an agent…

This paper proposes a unified decision making and local trajectory planning framework based on Time-Varying Artificial Potential Fields (TVAPFs). The TVAPF explicitly models the predicted motion via bounded uncertainty of dynamic obstacles…

Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to…

Making sophisticated, robust, and safe sequential decisions is at the heart of intelligent systems. This is especially critical for planning in complex multi-agent environments, where agents need to anticipate other agents' intentions and…

Recent years have witnessed remarkable progress in autonomous driving, with systems evolving from modular pipelines to end-to-end architectures. However, most existing methods are trained offline and lack mechanisms to adapt to new…

Motion planning for autonomous driving must handle multiple plausible futures while remaining computationally efficient. Recent end-to-end systems and world-model-based planners predict rich multi-modal trajectories, but typically rely on…

Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…

LLM agents have emerged as powerful systems for tackling multi-turn tasks by interleaving internal reasoning and external tool interactions. Agentic Reinforcement Learning has recently drawn significant research attention as a critical…

Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…

Vision-based trajectory prediction is an important task that supports safe and intelligent behaviours in autonomous systems. Many advanced approaches have been proposed over the years with improved spatial and temporal feature extraction.…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL…

Routing problems are a class of combinatorial problems with many practical applications. Recently, end-to-end deep learning methods have been proposed to learn approximate solution heuristics for such problems. In contrast, classical…

We present MBAPPE, a novel approach to motion planning for autonomous driving combining tree search with a partially-learned model of the environment. Leveraging the inherent explainable exploration and optimization capabilities of the…

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…

Autonomous navigation in crowded, complex urban environments requires interacting with other agents on the road. A common solution to this problem is to use a prediction model to guess the likely future actions of other agents. While this…

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…