相关论文: Penalty-Based Imitation Learning With Cross Semant…

How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

This paper proposes a novel approach by integrating sensor fusion with deep reinforcement learning, specifically the Soft Actor-Critic (SAC) algorithm, to develop an optimal control policy for self-driving cars. Our system employs a…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

We propose a model-free reinforcement learning method for controlling mixed autonomy traffic in simulated traffic networks with through-traffic-only two-way and four-way intersections. Our method utilizes multi-agent policy decomposition…

Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…

Intelligent transportation system combines advanced information technology to provide intelligent services such as monitoring, detection, and early warning for modern transportation. Intelligent transportation detection is the cornerstone…

Traffic congestion and collisions represent significant economic, environmental, and social challenges worldwide. Traditional traffic management approaches have shown limited success in addressing these complex, dynamic problems. To address…

Accurate traffic prediction is essential for effective urban management and the improvement of transportation efficiency. Recently, data-driven traffic prediction methods have been widely adopted, with better performance than traditional…

Many current behavior generation methods struggle to handle real-world traffic situations as they do not scale well with complexity. However, behaviors can be learned off-line using data-driven approaches. Especially, reinforcement learning…

Traditional autonomous driving pipelines decouple camera design from downstream perception, relying on fixed optics and handcrafted ISPs that prioritize human viewable imagery rather than machine semantics. This separation discards…

Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…

Ensuring the safety of self-driving cars remains a major challenge due to the complexity and unpredictability of real-world driving environments. Traditional testing methods face significant limitations, such as the oracle problem, which…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…

We present a training pipeline for the autonomous driving task given the current camera image and vehicle speed as the input to produce the throttle, brake, and steering control output. The simulator Airsim's convenient weather and lighting…

In the domain of autonomous driving, the offline Reinforcement Learning~(RL) approaches exhibit notable efficacy in addressing sequential decision-making problems from offline datasets. However, maintaining safety in diverse safety-critical…