相关论文: Improving Autonomous Driving Safety with POP: A Fr…

Alongside optimization-based planners, sampling-based approaches are often used in trajectory planning for autonomous driving due to their simplicity. Model predictive path integral control is a framework that builds upon optimization…

Predicting the motion of surrounding vehicles is key to safe autonomous driving, especially in unstructured environments without prior information. This paper proposes a novel online method to accurately predict the occupancy sets of…

As the potential for autonomous vehicles to be integrated on a large scale into modern traffic systems continues to grow, ensuring safe navigation in dynamic environments is crucial for smooth integration. To guarantee safety and prevent…

Offboard perception aims to automatically generate high-quality 3D labels for autonomous driving (AD) scenes. Existing offboard methods focus on 3D object detection with closed-set taxonomy and fail to match human-level recognition…

We present DistillFlow, a knowledge distillation approach to learning optical flow. DistillFlow trains multiple teacher models and a student model, where challenging transformations are applied to the input of the student model to generate…

Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…

End-to-end autonomous driving has substantially progressed by directly predicting future trajectories from raw perception inputs, which bypasses traditional modular pipelines. However, mainstream methods trained via imitation learning…

Motion Object Segmentation (MOS) is crucial for autonomous driving, as it enhances localization, path planning, map construction, scene flow estimation, and future state prediction. While existing methods achieve strong performance,…

Conformal Prediction (CP) is a principled framework for quantifying uncertainty in blackbox learning models, by constructing prediction sets with finite-sample coverage guarantees. Traditional approaches rely on scalar nonconformity scores,…

Methods for trajectory prediction in Autonomous Driving must contend with rare, safety-critical scenarios that make reliance on real-world data collection alone infeasible. To assess robustness under such conditions, we propose new…

Large Language Models (LLMs) show growing promise in autonomous driving by reasoning over complex traffic scenarios to generate path plans. However, their tendencies toward overconfidence, and hallucinations raise critical safety concerns.…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

Motion prediction is a critical part of self-driving technology, responsible for inferring future behavior of traffic actors in autonomous vehicle's surroundings. In order to ensure safe and efficient operations, prediction models need to…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Vision-language models (VLMs) such as CLIP demonstrate strong performance but struggle when adapted to downstream tasks. Prompt learning has emerged as an efficient and effective strategy to adapt VLMs while preserving their pre-trained…

The safe application of reinforcement learning (RL) requires generalization from limited training data to unseen scenarios. Yet, fulfilling tasks under changing circumstances is a key challenge in RL. Current state-of-the-art approaches for…

Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel trajectory optimization (CPTO) approach to enable safe and…

Accurately and safely predicting the trajectories of surrounding vehicles is essential for fully realizing autonomous driving (AD). This paper presents the Human-Like Trajectory Prediction model (HLTP++), which emulates human cognitive…

End-to-end learning has emerged as a major paradigm for developing autonomous systems. Unfortunately, with its performance and convenience comes an even greater challenge of safety assurance. A key factor of this challenge is the absence of…

Reliable navigation in safety-critical environments requires both accurate hazard perception and principled uncertainty handling to strengthen downstream safety handling. Despite the effectiveness of existing approaches, they assume perfect…