相关论文: Validity Learning on Failures: Mitigating the Dist…

Generalization under distribution shift remains a central bottleneck for closed-loop autonomous driving. Although simulators like CARLA enable safe and scalable testing, existing benchmarks rarely measure true generalization: they typically…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

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…

Vision-Language-Action (VLA) models for autonomous driving often hit a performance plateau during Reinforcement Learning (RL) optimization. This stagnation arises from exploration capabilities constrained by previous Supervised Fine-Tuning…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

With the rise of vision-language models (VLM), their application for autonomous driving (VLM4AD) has gained significant attention. Meanwhile, in autonomous driving, closed-loop evaluation has become widely recognized as a more reliable…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

Current Vision-Language-Action (VLA) paradigms in autonomous driving primarily rely on Imitation Learning (IL), which introduces inherent challenges such as distribution shift and causal confusion. Online Reinforcement Learning offers a…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Current Vision-Language-Action (VLA) paradigms in end-to-end autonomous driving rely on offline training from static datasets, leaving them vulnerable to distribution shift. Recent post-training methods use takeover data to mitigate this by…

Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacking corrective training signals, minor execution errors…

Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage of unsafe states. This limitation leads…

While automated driving technology has achieved a tremendous progress, the scalable and rigorous testing and verification of safe automated and autonomous driving vehicles remain challenging. This paper proposes a learning-based…

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.…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

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…

AutoFocus-IL is a simple yet effective method to improve data efficiency and generalization in visual imitation learning by guiding policies to attend to task-relevant features rather than distractors and spurious correlations. Although…

Discovering potential failures of an autonomous system is important prior to deployment. Falsification-based methods are often used to assess the safety of such systems, but the cost of running many accurate simulation can be high. The…

We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables…