相关论文: Improving Deep Dynamics Models for Autonomous Vehi…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Tactical decision making and strategic motion planning for autonomous highway driving are challenging due to the complication of predicting other road users' behaviors, diversity of environments, and complexity of the traffic interactions.…

Maps of dynamics are effective representations of motion patterns learned from prior observations, with recent research demonstrating their ability to enhance various downstream tasks such as human-aware robot navigation, long-term human…

Autonomous driving is challenging in adverse road and weather conditions in which there might not be lane lines, the road might be covered in snow and the visibility might be poor. We extend the previous work on end-to-end learning for…

Real-time traffic prediction from high-fidelity spatiotemporal traffic sensor datasets is an important problem for intelligent transportation systems and sustainability. However, it is challenging due to the complex topological dependencies…

Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints. Existing methods typically rely on one-stage trajectory prediction models, which condition…

Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…

Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…

In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…

Agile control of robotic systems often requires anticipating how the environment affects system behavior. For example, a driver must perceive the road ahead to anticipate available friction and plan actions accordingly. Achieving such…

Planning has been very successful for control tasks with known environment dynamics. To leverage planning in unknown environments, the agent needs to learn the dynamics from interactions with the world. However, learning dynamics models…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…

Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…

Autonomous mobile agents often operate in hazardous environments, necessitating an awareness of safety. These agents can have non-linear, stochastic dynamics that must be considered during planning to guarantee bounded risk. Most state of…

This paper presents a novel approach for learning self-awareness models for autonomous vehicles. The proposed technique is based on the availability of synchronized multi-sensor dynamic data related to different maneuvering tasks performed…

Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…

Deep learning models obtain impressive accuracy in road scenes understanding, however they need a large quantity of labeled samples for their training. Additionally, such models do not generalise well to environments where the statistical…

We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…