相关论文: End-to-End Driving via Self-Supervised Imitation L…

In the field of autonomous driving, end-to-end deep learning models show great potential by learning driving decisions directly from sensor data. However, training these models requires large amounts of labeled data, which is time-consuming…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…

In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…

Autonomous driving can benefit from motion behavior comprehension when interacting with diverse traffic participants in highly dynamic environments. Recently, there has been a growing interest in estimating class-agnostic motion directly…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

Recently, deep learning has experienced rapid expansion, contributing significantly to the progress of supervised learning methodologies. However, acquiring labeled data in real-world settings can be costly, labor-intensive, and sometimes…

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…

Semi-supervised object detection (SSOD) aims to boost detection performance by leveraging extra unlabeled data. The teacher-student framework has been shown to be promising for SSOD, in which a teacher network generates pseudo-labels for…

Cross-domain imitation learning (CDIL) accelerates policy learning by transferring expert knowledge across domains, which is valuable in applications where the collection of expert data is costly. Existing methods are either supervised,…

In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the potential to improve sample efficiency in various machine…

End-to-end (E2E) models are becoming increasingly popular for spoken language understanding (SLU) systems and are beginning to achieve competitive performance to pipeline-based approaches. However, recent work has shown that these models…

Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to…

We introduce S$^2$VS, a video similarity learning approach with self-supervision. Self-Supervised Learning (SSL) is typically used to train deep models on a proxy task so as to have strong transferability on target tasks after fine-tuning.…

State-of-the-art frameworks in self-supervised learning have recently shown that fully utilizing transformer-based models can lead to performance boost compared to conventional CNN models. Striving to maximize the mutual information of two…

This paper proposes a novel inverse reinforcement learning framework using a diffusion-based adaptive lookahead planner (IRL-DAL) for autonomous vehicles. Training begins with imitation from an expert finite state machine (FSM) controller…

Annotating large-scale LiDAR point clouds for 3D semantic segmentation is costly and time-consuming, which motivates the use of semi-supervised learning (SemiSL). Standard LiDAR SemiSL methods typically adopt a two-step training paradigm,…

Self-driving cars and autonomous vehicles are revolutionizing the automotive sector, shaping the future of mobility altogether. Although the integration of novel technologies such as Artificial Intelligence (AI) and Cloud/Edge computing…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

End to end (E2E) autonomous driving trajectory prediction is often trained with camera frames sampled at the highest available temporal frequency, assuming that denser sampling improves performance. We question this assumption by treating…