相关论文: Scenario-Based Curriculum Generation for Multi-Age…

Driving safety is a top priority for autonomous vehicles. Orthogonal to prior work handling accident-prone traffic events by algorithm designs at the policy level, we investigate a Closed-loop Adversarial Training (CAT) framework for safe…

Evolution has produced a multi-scale mosaic of interacting adaptive units. Innovations arise when perturbations push parts of the system away from stable equilibria into new regimes where previously well-adapted solutions no longer work.…

This study introduces an innovative framework that employs large language models (LLMs) to automate the design and generation of curricula for reinforcement learning (RL). As mobile networks evolve towards the 6G era, managing their…

Increasing the implemented SAE level of autonomy in road vehicles requires extensive simulations and verifications in a realistic simulation environment before proving ground and public road testing. The level of detail in the simulation…

Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…

Simulating realistic driving behavior is crucial for developing and testing autonomous systems in complex traffic environments. Equally important is the ability to control the behavior of simulated agents to tailor scenarios to specific…

Intrinsically, driving is a Markov Decision Process which suits well the reinforcement learning paradigm. In this paper, we propose a novel agent which learns to drive a vehicle without any human assistance. We use the concept of…

Cooperative path planning for heterogeneous UAV swarms poses significant challenges for Multi-Agent Reinforcement Learning (MARL), particularly in handling asymmetric inter-agent dependencies and addressing the risks of sparse rewards and…

Evaluating autonomous vehicle stacks (AVs) in simulation typically involves replaying driving logs from real-world recorded traffic. However, agents replayed from offline data are not reactive and hard to intuitively control. Existing…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the…

Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…

Automated vehicles (AVs) are expected to increase traffic safety and traffic efficiency, among others by enabling flexible mobility-on-demand systems. This is particularly important in Singapore, being one of the world's most densely…

Multi-modal learning has emerged as a key technique for improving performance across domains such as autonomous driving, robotics, and reasoning. However, in certain scenarios, particularly in resource-constrained environments, some…

Autonomous multi-agent systems such as hospital robots and package delivery drones often operate in highly uncertain environments and are expected to achieve complex temporal task objectives while ensuring safety. While learning-based…

Critical scenario generation requires the ability of sampling critical combinations from the infinite parameter space in the logic scenario. Existing solutions aim to explore the correlation of action parameters in the initial scenario…

We consider the problem of generating realistic traffic scenes automatically. Existing methods typically insert actors into the scene according to a set of hand-crafted heuristics and are limited in their ability to model the true…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

Post-training is essential for enabling large language models (LLMs) to follow human instructions. However, its effectiveness depends on high-quality instruction data, which is challenging to obtain in the real world due to privacy…

Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…