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

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Autonomous driving policies are typically trained via open-loop behavior cloning of human demonstrations. However, such policies suffer from covariate shift when deployed in closed loop, leading to compounding errors. We introduce Rollouts…

As the foundation of closed-loop training and evaluation in autonomous driving, traffic simulation still faces two fundamental challenges: covariate shift introduced by open-loop imitation learning and limited capacity to reflect the…

Autonomous vehicles (AVs) have the potential to prevent accidents caused by drivers errors and reduce road traffic risks. Due to the nature of heavy vehicles, whose collisions cause more serious crashes, the weights of vehicles need to be…

ML-based motion planning is a promising approach to produce agents that exhibit complex behaviors, and automatically adapt to novel environments. In the context of autonomous driving, it is common to treat all available training data…

Generating safe and non-conservative behaviors in dense, dynamic environments remains challenging for automated vehicles due to the stochastic nature of traffic participants' behaviors and their implicit interaction with the ego vehicle.…

Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…

Ensuring the safety of autonomous vehicles (AVs) requires identifying rare but critical failure cases that on-road testing alone cannot discover. High-fidelity simulations provide a scalable alternative, but automatically generating…

Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of…

Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…

Scenario-based testing has emerged as a common method for autonomous vehicles (AVs) safety assessment, offering a more efficient alternative to mile-based testing by focusing on high-risk scenarios. However, fundamental questions persist…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…

We present a versatile NeRF-based simulator for testing autonomous driving (AD) software systems, designed with a focus on sensor-realistic closed-loop evaluation and the creation of safety-critical scenarios. The simulator learns from…

We introduce a curriculum learning algorithm, Variational Automatic Curriculum Learning (VACL), for solving challenging goal-conditioned cooperative multi-agent reinforcement learning problems. We motivate our paradigm through a variational…

Ensuring and improving the safety of autonomous driving systems (ADS) is crucial for the deployment of highly automated vehicles, especially in safety-critical events. To address the rarity issue, adversarial scenario generation methods are…

To ensure their safe use, autonomous vehicles (AVs) must meet rigorous certification criteria that involve executing maneuvers safely within (arbitrary) scenarios where other actors perform their intended maneuvers. For that purpose,…

Virtual scenario-based testing methods to validate autonomous driving systems are predominantly centred around collision avoidance, and lack a comprehensive approach to evaluate optimal driving behaviour holistically. Furthermore, current…

Handling pre-crash scenarios is still a major challenge for self-driving cars due to limited practical data and human-driving behavior datasets. We introduce DISC (Driving Styles In Simulated Crashes), one of the first datasets designed to…

Developing autonomous driving systems for complex traffic environments requires balancing multiple objectives, such as avoiding collisions, obeying traffic rules, and making efficient progress. In many situations, these objectives cannot be…