相关论文: SRPT vs Smith Predictor for Vehicle Teleoperation

Accurate trajectory prediction is essential for the safety and efficiency of autonomous driving. Traditional models often struggle with real-time processing, capturing non-linearity and uncertainty in traffic environments, efficiency in…

Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in normal driving conditions, the challenge remains to estimate…

Different from existing MOT (Multi-Object Tracking) techniques that usually aim at improving tracking accuracy and average FPS, real-time systems such as autonomous vehicles necessitate new requirements of MOT under limited computing…

The need to recognise long-term dependencies in sequential data such as video streams has made Long Short-Term Memory (LSTM) networks a prominent Artificial Intelligence model for many emerging applications. However, the high computational…

With the rapid development of machine learning, autonomous driving has become a hot issue, making urgent demands for more intelligent perception and planning systems. Self-driving cars can avoid traffic crashes with precisely predicted…

Existing trajectory prediction methods exhibit significant performance degradation under distribution shifts during test time. Although test-time training techniques have been explored to enable adaptation, current approaches rely on an…

Stochastic trajectory optimization methods like STOMP enable planning with non-differentiable costs, offering substantial flexibility over gradient-based approaches. We show that STOMP implicitly minimizes the KL divergence from a Boltzmann…

Professional race drivers are still superior to automated systems at controlling a vehicle at its dynamic limit. Gaining insight into race drivers' vehicle handling process might lead to further development in the areas of automated driving…

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…

Recurrent neural networks (RNNs) have recently demonstrated strong performance and faster inference than Transformers at comparable parameter budgets. However, the recursive gradient computation with the backpropagation through time (or…

Teleoperation is a popular solution to remotely support highly automated vehicles through a human remote operator whenever a disengagement of the automated driving system is present. The remote operator wirelessly connects to the vehicle…

Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…

Existing neural solvers for vehicle routing problems (VRPs) are typically trained either in a one-off manner on a fixed set of pre-defined tasks or in a lifelong manner with tasks arriving sequentially, assuming sufficient training on each…

Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…

This paper addresses motion forecasting in multi-agent environments, pivotal for ensuring safety of autonomous vehicles. Traditional as well as recent data-driven marginal trajectory prediction methods struggle to properly learn non-linear…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

Next location prediction is a critical task in human mobility modeling, enabling applications like travel planning and urban mobility management. Existing methods mainly rely on historical spatiotemporal trajectory data to train sequence…

In a typical car-following scenario, target vehicle speed fluctuations act as an external disturbance to the host vehicle and in turn affect its energy consumption. To control a host vehicle in an energy-efficient manner using model…

To safely and efficiently navigate in complex urban traffic, autonomous vehicles must make responsible predictions in relation to surrounding traffic-agents (vehicles, bicycles, pedestrians, etc.). A challenging and critical task is to…

We present DriveGPT, a scalable behavior model for autonomous driving. We model driving as a sequential decision-making task, and learn a transformer model to predict future agent states as tokens in an autoregressive fashion. We scale up…