相关论文: Deep Occupancy-Predictive Representations for Auto…

Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…

Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

We propose a novel approach to optimize fleet management by combining multi-agent reinforcement learning with graph neural network. To provide ride-hailing service, one needs to optimize dynamic resources and demands over spatial domain.…

Most traffic flow control algorithms address switching cycle adaptation of traffic signals and lights. This work addresses traffic flow optimisation by self-organising micro-level control combining Reinforcement Learning and rule-based…

Autonomous driving is an emerging technology that has advanced rapidly over the last decade. Modern transportation is expected to benefit greatly from a wise decision-making framework of autonomous vehicles, including the improvement of…

Predicting the trajectories of surrounding agents is still considered one of the most challenging tasks for autonomous driving. In this paper, we introduce a multi-modal trajectory prediction framework based on the transformer network. The…

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

The improvement of traffic efficiency at urban intersections receives strong research interest in the field of automated intersection management. So far, mostly non-learning algorithms like reservation or optimization-based ones were…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…

Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating…

The task of motion prediction is pivotal for autonomous driving systems, providing crucial data to choose a vehicle behavior strategy within its surroundings. Existing motion prediction techniques primarily focus on predicting the future…

In many real-world decision making problems, reaching an optimal decision requires taking into account a variable number of objects around the agent. Autonomous driving is a domain in which this is especially relevant, since the number of…

We address one of the crucial aspects necessary for safe and efficient operations of autonomous vehicles, namely predicting future state of traffic actors in the autonomous vehicle's surroundings. We introduce a deep learning-based approach…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

The common pipeline in autonomous driving systems is highly modular and includes a perception component which extracts lists of surrounding objects and passes these lists to a high-level decision component. In this case, leveraging the…