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

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

Continual learning is the problem of learning and retaining knowledge through time over multiple tasks and environments. Research has primarily focused on the incremental classification setting, where new tasks/classes are added at discrete…

While machine learning systems show high success rate in many complex tasks, research shows they can also fail in very unexpected situations. Rise of machine learning products in safety-critical industries cause an increase in attention in…

While privacy concerns entice connected and automated vehicles to incorporate on-board federated learning (FL) solutions, an integrated vehicle-to-everything communication with heterogeneous computation power aware learning platform is…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

The use of Vision-Language Models (VLMs) in automated driving applications is becoming increasingly common, with the aim of leveraging their reasoning and generalisation capabilities to handle long tail scenarios. However, these models…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

Autonomous navigation of Unmanned Surface Vehicles (USVs) that is safe and compliant with the International Regulations for Preventing Collisions at Sea (COLREGs) remains a formidable challenge in dynamic maritime environments, particularly…

Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even radar-based simultaneous localization and mapping (SLAM) frameworks for precise localization and navigation. However, modern SLAM frameworks often lead to unacceptably…

Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…

This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…

Personalized motion planning holds significant importance within urban automated driving, catering to the unique requirements of individual users. Nevertheless, prior endeavors have frequently encountered difficulties in simultaneously…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Reinforcement Learning (RL) has emerged as a dominant paradigm for end-to-end autonomous driving (AD). However, RL suffers from sample inefficiency and a lack of semantic interpretability in complex scenarios. Foundation Models,…

Sample efficiency is critical in solving real-world reinforcement learning problems, where agent-environment interactions can be costly. Imitation learning from expert advice has proved to be an effective strategy for reducing the number of…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

Compliance with maritime traffic rules is essential for the safe operation of autonomous vessels, yet training reinforcement learning (RL) agents to adhere to them is challenging. The behavior of RL agents is shaped by the training…