相关论文: Learning Stability Attention in Vision-based End-t…

Developing autonomous vehicles (AVs) helps improve the road safety and traffic efficiency of intelligent transportation systems (ITS). Accurately predicting the trajectories of traffic participants is essential to the decision-making and…

Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design…

This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

We introduce Flashback Learning (FL), a novel method designed to harmonize the stability and plasticity of models in Continual Learning (CL). Unlike prior approaches that primarily focus on regularizing model updates to preserve old…

End-to-end autonomous driving systems powered by Vision-Language-Action (VLA) models achieve strong performance on common driving scenarios, yet remain brittle in rare but safety-critical long-tail situations such as active construction…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Continual learning (CL) empowers AI systems to progressively acquire knowledge from non-stationary data streams. However, catastrophic forgetting remains a critical challenge. In this work, we identify attention drift in Vision Transformers…

In addition to providing high-profile successes in computer vision and natural language processing, neural networks also provide an emerging set of techniques for scientific problems. Such data-driven models, however, typically ignore…

This paper addresses the challenge of safe stabilization, ensuring the system state reach the origin while avoiding unsafe regions. Existing approaches relying on smooth Lyapunov barrier functions often fail to guarantee a feasible…

This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…

Although Deep Reinforcement Learning (DRL) and Large Language Models (LLMs) each show promise in addressing decision-making challenges in autonomous driving, DRL often suffers from high sample complexity, while LLMs have difficulty ensuring…

Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We…

This paper explores the problem of reconstructing high-resolution light field (LF) images from hybrid lenses, including a high-resolution camera surrounded by multiple low-resolution cameras. To tackle this challenge, we propose a novel…

This paper develops an adaptive observation-based efficient reinforcement learning (RL) approach for systems with uncertain drift dynamics. A novel concurrent learning adaptive extended observer (CL-AEO) is first designed to jointly…

Safety is a fundamental requirement for autonomous systems operating in critical domains. Control barrier functions (CBFs) have been used to design safety filters that minimally alter nominal controls for such systems to maintain their…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…

End-to-end autonomous driving has emerged as a promising paradigm integrating perception, decision-making, and control within a unified learning framework. Recently, Vision-Language Models (VLMs) have gained significant attention for their…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…