相关论文: Continual Driving Policy Optimization with Closed-…

Simulation-based testing remains the main approach for validating Autonomous Driving Systems. We propose a rigorous test method based on breaking down scenarios into simple ones, taking into account the fact that autopilots make decisions…

The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…

Offline Reinforcement Learning (RL) presents a promising paradigm for training autonomous vehicle (AV) planning policies from large-scale, real-world driving logs. However, the extreme data imbalance in these logs, where mundane scenarios…

Developing reliable autonomous driving algorithms poses challenges in testing, particularly when it comes to safety-critical traffic scenarios involving pedestrians. An open question is how to simulate rare events, not necessarily found in…

Automatic Curriculum Learning (ACL) has become a cornerstone of recent successes in Deep Reinforcement Learning (DRL).These methods shape the learning trajectories of agents by challenging them with tasks adapted to their capacities. In…

Deep reinforcement learning (DRL) algorithms have been demonstrated to be effective in a wide range of challenging decision making and control tasks. However, these methods typically suffer from severe action oscillations in particular in…

Fully autonomous vehicles (AVs) continue to spark immense global interest, yet predictions on when they will operate safely and broadly remain heavily debated. This paper synthesizes two distinct research traditions: computational…

The software architecture behind modern autonomous vehicles (AV) is becoming more complex steadily. Safety verification is now an imminent task prior to the large-scale deployment of such convoluted models. For safety-critical tasks in…

Autonomous vehicles (AVs) have demonstrated significant potential in revolutionizing transportation, yet ensuring their safety and reliability remains a critical challenge, especially when exposed to dynamic and unpredictable environments.…

Accurately simulating diverse behaviors of heterogeneous agents in various scenarios is fundamental to autonomous driving simulation. This task is challenging due to the multi-modality of behavior distribution, the high-dimensionality of…

Path planning in an uncertain environment is a key enabler of true vehicle autonomy. Over the past two decades, numerous approaches have been developed to account for errors in the vehicle path while navigating complex and often uncertain…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

End-to-end autonomous driving planners are commonly trained by imitating a single logged trajectory, yet evaluated by rule-based planning metrics that measure safety, feasibility, progress, and comfort. This creates a training--evaluation…

Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of…

Providing safety guarantees for Autonomous Vehicle (AV) systems with machine-learning-based controllers remains a challenging issue. In this work, we propose Simplex-Drive, a framework that can achieve runtime safety assurance for…

Interaction between the background vehicles (BVs) and automated vehicles (AVs) in scenario-based testing plays a critical role in evaluating the intelligence of the AVs. Current testing scenarios typically employ predefined or scripted BVs,…

Closed-loop simulation environments play a crucial role in the validation and enhancement of autonomous driving systems (ADS). However, certain challenges warrant significant attention, including balancing simulation accuracy with duration,…

Cybersecurity is a relentless arms race, with AI driven offensive systems evolving faster than traditional defenses can adapt. Research and tooling remain fragmented across isolated defensive functions, creating blind spots that adversaries…

For a successful market launch of automated vehicles (AVs), proof of their safety is essential. Due to the open parameter space, an infinite number of traffic situations can occur, which makes the proof of safety an unsolved problem. With…

With the widespread adoption and deployment of autonomous driving, handling complex environments has become an unavoidable challenge. Due to the scarcity and diversity of extreme scenario datasets, current autonomous driving models struggle…