相关论文: Image-based Regularization for Action Smoothness i…

The accurate prediction of smooth steering inputs is crucial for automotive applications because control actions with jitter might cause the vehicle system to become unstable. To address this problem in automobile lane-keeping control…

Drifting is a complicated task for autonomous vehicle control. Most traditional methods in this area are based on motion equations derived by the understanding of vehicle dynamics, which is difficult to be modeled precisely. We propose a…

Robotic camera systems enable dynamic, repeatable motion beyond human capabilities, yet their adoption remains limited by the high cost and operational complexity of industrial-grade platforms. We present the Intelligent Robotic Imaging…

Reinforcement learning often produces high-frequency oscillatory control signals that undermine the safety and stability required for physical deployment. Explicit action chunking addresses this by predicting fixed-horizon trajectories but…

Simulation-based testing of automated driving systems (ADS) is the industry standard, being a controlled, safe, and cost-effective alternative to real-world testing. Despite these advantages, virtual simulations often fail to accurately…

Environment sensing and fusion via onboard sensors are envisioned to be widely applied in future autonomous driving networks. This paper considers a vehicular system with multiple self-driving vehicles that is assisted by multi-access edge…

Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction data with the environment. Nevertheless, the reward function…

Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's…

Removal of noise from an image is an extensively studied problem in image processing. Indeed, the recent advent of sophisticated and highly effective denoising algorithms lead some to believe that existing methods are touching the ceiling…

Randomized smoothing-based certification is an effective approach for obtaining robustness certificates of deep neural networks (DNNs) against adversarial attacks. This method constructs a smoothed DNN model and certifies its robustness…

Deep Reinforcement Learning has shown its capability to solve the high degrees of freedom in control and the complex interaction with the object in the multi-finger dexterous in-hand manipulation tasks. Current DRL approaches prefer sparse…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

Ramp metering that uses traffic signals to regulate vehicle flows from the on-ramps has been widely implemented to improve vehicle mobility of the freeway. Previous studies generally update signal timings in real-time based on predefined…

As reinforcement learning (RL) has achieved great success and been even adopted in safety-critical domains such as autonomous vehicles, a range of empirical studies have been conducted to improve its robustness against adversarial attacks.…

In recent years, a variety of tasks have been accomplished by deep reinforcement learning (DRL). However, when applying DRL to tasks in a real-world environment, designing an appropriate reward is difficult. Rewards obtained via actual…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

We first define appropriate state representation and action space, and then design an adjustment mechanism based on the actions selected by the intelligent agent. The adjustment mechanism outputs the next state and reward value of the…

Reach-Avoid-Stay (RAS) optimal control enables systems such as robots and air taxis to reach their targets, avoid obstacles, and stay near the target. However, current methods for RAS often struggle with handling complex, dynamic…

Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-Of-Distribution (OOD) generalization to…

The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results on collision avoidance policies and the modeling of ADS by combining descriptions of their static…