相关论文: SIMPL: A Simple and Efficient Multi-agent Motion P…

We propose advances that address two key challenges in future trajectory prediction: (i) multimodality in both training data and predictions and (ii) constant time inference regardless of number of agents. Existing trajectory predictions…

Existing robotic systems have a clear tension between generality and precision. Deployed solutions for robotic manipulation tend to fall into the paradigm of one robot solving a single task, lacking precise generalization, i.e., the ability…

As the pretraining technique is growing in popularity, little work has been done on pretrained learning-based motion prediction methods in autonomous driving. In this paper, we propose a framework to formalize the pretraining task for…

This paper presents a distributed, efficient, scalable and real-time motion planning algorithm for a large group of agents moving in 2 or 3-dimensional spaces. This algorithm enables autonomous agents to generate individual trajectories…

Hybrid planner switching framework (HPSF) for autonomous driving needs to reconcile high-speed driving efficiency with safe maneuvering in dense traffic. Existing HPSF methods often fail to make reliable mode transitions or sustain…

Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the first two but violate the third, requiring…

This paper presents a Predictive Maneuver Planning with Deep Reinforcement Learning (PMP-DRL) model for maneuver planning. Traditional rule-based maneuver planning approaches often have to improve their abilities to handle the variabilities…

Generalizing policies to unseen scenarios remains a critical challenge in visual reinforcement learning, where agents often overfit to the specific visual observations of the training environment. In unseen environments, distracting pixels…

A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…

How do we enable AI systems to efficiently learn in the real-world? First-principles models are widely used to simulate natural systems, but often fail to capture real-world complexity due to simplifying assumptions. In contrast, deep…

We present a physics-informed neural network (PINN) approach for the discovery of slow invariant manifolds (SIMs), for the most general class of fast/slow dynamical systems of ODEs. In contrast to other machine learning (ML) approaches that…

Future trajectories of neighboring traffic agents have a significant influence on the path planning and decision-making of autonomous vehicles. While trajectory forecasting is a well-studied field, research mainly focuses on snapshot-based…

Predicting future trajectories of surrounding agents is essential for safety-critical autonomous driving. Most existing work focuses on predicting marginal trajectories for each agent independently. However, it has rarely been explored in…

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…

Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant…

Motion prediction for automated vehicles in complex environments is a difficult task that is to be mastered when automated vehicles are to be used in arbitrary situations. Many factors influence the future motion of traffic participants…

To safely and efficiently navigate through complex traffic scenarios, autonomous vehicles need to have the ability to predict the future motion of surrounding vehicles. Multiple interacting agents, the multi-modal nature of driver behavior,…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Data-driven autonomous driving motion generation tasks are frequently impacted by the limitations of dataset size and the domain gap between datasets, which precludes their extensive application in real-world scenarios. To address this…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…