相关论文: Scaling Vision-based End-to-End Driving with Multi…

End-to-end autonomous driving has advanced significantly, offering benefits such as system simplicity and stronger driving performance in both open-loop and closed-loop settings than conventional pipelines. However, existing frameworks…

The emergence of data-driven machine learning (ML) has facilitated significant progress in many complicated tasks such as highly-automated driving. While much effort is put into improving the ML models and learning algorithms in such…

Code Language Models (CodeLLMs) traditionally learn attention based solely on statistical input-output token correlations ("machine attention"). In contrast, human developers rely on intuition, selectively fixating on semantically salient…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

Current end-to-end deep learning driving models have two problems: (1) Poor generalization ability of unobserved driving environment when diversity of training driving dataset is limited (2) Lack of accident explanation ability when driving…

The autonomous driving community has witnessed a rapid growth in approaches that embrace an end-to-end algorithm framework, utilizing raw sensor input to generate vehicle motion plans, instead of concentrating on individual tasks such as…

End-to-end autonomous driving models trained solely with imitation learning (IL) often suffer from poor generalization. In contrast, reinforcement learning (RL) promotes exploration through reward maximization but faces challenges such as…

End-to-end learning has taken hold of many computer vision tasks, in particular, related to still images, with task-specific optimization yielding very strong performance. Nevertheless, human-centric action recognition is still largely…

Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments.…

Existing imitation learning methods suffer from low efficiency and generalization ability when facing the road option problem in an urban environment. In this paper, we propose a yaw-guided imitation learning method to improve the road…

End-to-end autonomous driving systems built on Vision Language Models (VLMs) have shown significant promise, yet their reliance on autoregressive architectures introduces some limitations for real-world applications. The sequential,…

The goal of our work is to use visual attention to enhance autonomous driving performance. We present two methods of predicting visual attention maps. The first method is a supervised learning approach in which we collect eye-gaze data for…

For human drivers, having rear and side-view mirrors is vital for safe driving. They deliver a more complete view of what is happening around the car. Human drivers also heavily exploit their mental map for navigation. Nonetheless, several…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

Vision-language-action (VLA) models show promising knowledge accumulation ability from pretraining, yet continual learning in VLA remains challenging, especially for efficient adaptation. Existing continual imitation learning (CIL) methods…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current…

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…