相关论文: Towards learning-based planning:The nuPlan benchma…

Machine learning (ML)-based planners have recently gained significant attention. They offer advantages over traditional optimization-based planning algorithms. These advantages include fewer manually selected parameters and faster…

Real-world autonomous planning requires coordinating tightly coupled constraints where a single decision dictates the feasibility of all subsequent actions. However, existing benchmarks predominantly feature loosely coupled constraints…

Crash prediction is a critical component of road safety analyses. A widely adopted approach to crash prediction is application of regression based techniques. The underlying calibration process is often time-consuming, requiring significant…

Recent advances in autonomous driving research towards motion planners that are robust, safe, and adaptive. However, existing rule-based and data-driven planners lack adaptability to long-tail scenarios, while knowledge-driven methods offer…

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination…

Motion planning for autonomous driving (AD) faces a critical trade-off. While traditional rule-based pipelines offer verifiable safety and interpretability, they often fail to generalize in complex scenarios. Conversely, emerging…

Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Image based benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of…

We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach…

Recent Autonomous Driving (AD) works such as GigaFlow and PufferDrive have unlocked Reinforcement Learning (RL) at scale as a training strategy for driving policies. Yet such policies remain disconnected from established benchmarks, leaving…

High-definition (HD) semantic maps are crucial in enabling autonomous vehicles to navigate urban environments. The traditional method of creating offline HD maps involves labor-intensive manual annotation processes, which are not only…

Autonomous Vehicles (AV) and Advanced Driver Assistance Systems (ADAS) have been revolutionized by Deep Learning. As a data-driven approach, Deep Learning relies on vast amounts of driving data, typically labeled in great detail. As a…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to…

Car-following is a control process in which a following vehicle (FV) adjusts its acceleration to keep a safe distance from the lead vehicle (LV). Recently, there has been a booming of data-driven models that enable more accurate modeling of…

Modern motion planners for autonomous driving frequently use imitation learning (IL) to draw from expert driving logs. Although IL benefits from its ability to glean nuanced and multi-modal human driving behaviors from large datasets, the…

Real-time planning under uncertainty is critical for robots operating in complex dynamic environments. Consider, for example, an autonomous robot vehicle driving in dense, unregulated urban traffic of cars, motorcycles, buses, etc. The…

Traditionally, prediction and planning in autonomous driving (AD) have been treated as separate, sequential modules. Recently, there has been a growing shift towards tighter integration of these components, known as Integrated Prediction…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…