相关论文: PLUTO: Pushing the Limit of Imitation Learning-bas…

In this paper, we present an Efficient Planning System for automated vehicles In highLy interactive envirONments (EPSILON). EPSILON is an efficient interaction-aware planning system for automated driving, and is extensively validated in…

Due to the powerful vision-language reasoning and generalization abilities, multimodal large language models (MLLMs) have garnered significant attention in the field of end-to-end (E2E) autonomous driving. However, their application to…

Prompt engineering is pivotal for harnessing the capabilities of large language models (LLMs) across diverse applications. While existing prompt optimization methods improve prompt effectiveness, they often lead to prompt drifting, where…

This paper presents ARTEMIS, an end-to-end autonomous driving framework that combines autoregressive trajectory planning with Mixture-of-Experts (MoE). Traditional modular methods suffer from error propagation, while existing end-to-end…

Recent advances in high-fidelity simulators have enabled closed-loop training of autonomous driving agents, potentially solving the distribution shift in training v.s. deployment and allowing training to be scaled both safely and cheaply.…

Chain-of-Thought (CoT) empowers Large Language Models (LLMs) to tackle complex problems, but remains constrained by the computational cost and reasoning path collapse when grounded in discrete token spaces. Recent latent reasoning…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Proximal Policy Optimization (PPO) is a widely used reinforcement learning algorithm that heavily relies on accurate advantage estimates for stable and efficient training. However, raw advantage signals can exhibit significant variance,…

Machine unlearning (MU) aims to remove the influence of specific data from a trained model. However, approximate unlearning methods, often formulated as a single-objective optimization (SOO) problem, face a critical trade-off between…

Very recently proximal policy optimization (PPO) algorithms have been proposed as first-order optimization methods for effective reinforcement learning. While PPO is inspired by the same learning theory that justifies trust region policy…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Polyhedral compilers can perform complex loop optimizations that improve parallelism and cache behaviour of loops in the input program. These transformations result in significant performance gains on modern processors which have large…

This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…

We investigate reinforcement learning (RL) for privileged planning in autonomous driving. State-of-the-art approaches for this task are rule-based, but these methods do not scale to the long tail. RL, on the other hand, is scalable and does…

It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challenging due to the interaction and uncertainty in driving…

Prompt engineering can significantly improve the performance of large language models (LLMs), with automated prompt optimization (APO) gaining significant attention due to the time-consuming and laborious nature of manual prompt design.…

We propose an imitation learning system for autonomous driving in urban traffic with interactions. We train a Behavioral Cloning~(BC) policy to imitate driving behavior collected from the real urban traffic, and apply the data aggregation…

Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…