相关论文: Rethinking Imitation-based Planner for Autonomous …

Learning-based approaches to autonomous vehicle planners have the potential to scale to many complicated real-world driving scenarios by leveraging huge amounts of driver demonstrations. However, prior work only learns to estimate a single…

Recent large language models (LLMs) are promising for making decisions in grounded environments. However, LLMs frequently fail in complex decision-making tasks due to the misalignment between the pre-trained knowledge in LLMs and the actual…

End-to-end autonomous driving recently emerged as a promising research direction to target autonomy from a full-stack perspective. Along this line, many of the latest works follow an open-loop evaluation setting on nuScenes to study the…

The evaluation of informative path planning algorithms for autonomous vehicles is often hindered by fragmented execution pipelines and limited transferability between simulation and real-world deployment. This paper introduces a unified…

As autonomous driving systems being deployed to millions of vehicles, there is a pressing need of improving the system's scalability, safety and reducing the engineering cost. A realistic, scalable, and practical simulator of the driving…

Learning-based planners are sensitive to the long-tailed distribution of driving data. Common maneuvers dominate datasets, while dangerous or rare scenarios are sparse. This imbalance can bias models toward the frequent cases and degrade…

In recent years, imitation learning (IL) has been widely used in industry as the core of autonomous vehicle (AV) planning modules. However, previous IL works show sample inefficiency and low generalisation in safety-critical scenarios, on…

In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…

Recent advancements in deep-learning-based driving planners have primarily focused on elaborate network engineering, yielding limited improvements. This paper diverges from conventional approaches by exploring three fundamental yet…

In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online…

Planning is a critical component of end-to-end autonomous driving. However, prevailing imitation learning methods often suffer from mode collapse, failing to produce diverse trajectory hypotheses. Meanwhile, existing generative approaches…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…

Multi-agent path finding (MAPF) is an essential component of many large-scale, real-world robot deployments, from aerial swarms to warehouse automation. However, despite the community's continued efforts, most state-of-the-art MAPF planners…

The advent of Large Language Models (LLMs) holds promise for revolutionizing various fields traditionally dominated by human expertise. Urban planning, a professional discipline that fundamentally shapes our daily surroundings, is one such…

Traffic data imputation is a critical preprocessing step in intelligent transportation systems, underpinning the reliability of downstream transportation services. Despite substantial progress in imputation models, model selection and…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

The planning problem constitutes a fundamental aspect of the autonomous driving framework. Recent strides in representation learning have empowered vehicles to comprehend their surrounding environments, thereby facilitating the integration…