相关论文: Nigel -- Mechatronic Design and Robust Sim2Real Co…

Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…

In this work, we propose a sim2real method to transfer and adapt a nonlinear model predictive controller (NMPC) from simulation to the real target system based on executable digital twin (xDT). The xDT model is a high fidelity vehicle…

We present Sym2Real, a fully data-driven framework that provides a principled way to train low-level adaptive controllers in a highly data-efficient manner. Using only about 10 trajectories, we achieve robust control of both a quadrotor and…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

The engineering community currently encounters significant challenges in the development of intelligent transportation algorithms that can be transferred from simulation to reality with minimal effort. This can be achieved by robustifying…

Deep Reinforcement Learning (DRL) has shown remarkable success in solving complex tasks across various research fields. However, transferring DRL agents to the real world is still challenging due to the significant discrepancies between…

Simulation-based design, optimization, and validation of autonomous vehicles have proven to be crucial for their improvement over the years. Nevertheless, the ultimate measure of effectiveness is their successful transition from simulation…

Safety is a long-standing and the final pursuit in the development of autonomous driving systems, with a significant portion of safety challenge arising from perception. How to effectively evaluate the safety as well as the reliability of…

In the past two decades, autonomous driving has been catalyzed into reality by the growing capabilities of machine learning. This paradigm shift possesses significant potential to transform the future of mobility and reshape our society as…

Autonomous driving is complex, requiring sophisticated 3D scene understanding, localization, mapping, and control. Rather than explicitly modelling and fusing each of these components, we instead consider an end-to-end approach via…

In the field of autonomous driving, sensor simulation is essential for generating rare and diverse scenarios that are difficult to capture in real-world environments. Current solutions fall into two categories: 1) CG-based methods, such as…

This paper proposes a novel extension of the Simplex architecture with model switching and model learning to achieve safe velocity regulation of self-driving vehicles in dynamic and unforeseen environments. To guarantee the reliability of…

To achieve fully autonomous driving, vehicles must be capable of continuously performing various driving tasks, including lane keeping and car following, both of which are fundamental and well-studied driving ones. However, previous studies…

In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…

Autonomous driving technologies have achieved significant advances in recent years, yet their real-world deployment remains constrained by data scarcity, safety requirements, and the need for generalization across diverse environments. In…

Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We…

Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…

In this work, we focus on the challenge of transferring an autonomous driving controller from simulation to the real world (i.e. Sim2Real). We propose a data-efficient method for online and on-the-fly adaptation of parametrizable control…

In this paper we provide optimal control based strategies to explore the dynamic capabilities of a single-track car model which includes tire models and longitudinal load transfer. Using an explicit formulation of the holonomic constraints…

Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…