相关论文: Utilizing Navigation Paths to Generate Target Poin…

Our research introduces a modular motion planning framework for autonomous vehicles using a sampling-based trajectory planning algorithm. This approach effectively tackles the challenges of solution space construction and optimization in…

Trajectory prediction is a fundamental technology for advanced autonomous driving systems and represents one of the most challenging problems in the field of cognitive intelligence. Accurately predicting the future trajectories of each…

Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance running on resource-constrained hardware. This work proposes…

In tasks aiming for long-term returns, planning becomes essential. We study generative modeling for planning with datasets repurposed from offline reinforcement learning. Specifically, we identify temporal consistency in the absence of…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…

Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…

While end-to-end autonomous driving has advanced significantly, prevailing methods remain fundamentally misaligned with human cognitive principles in both perception and planning. In this paper, we propose CogAD, a novel end-to-end…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

Accurately predicting how agents move in dynamic scenes is essential for safe autonomous driving. State-of-the-art motion forecasting models rely on datasets with manually annotated or post-processed trajectories. However, building these…

Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

A map, as crucial information for downstream applications of an autonomous driving system, is usually represented in lanelines or centerlines. However, existing literature on map learning primarily focuses on either detecting geometry-based…

Accurate and interpretable motion planning is essential for autonomous vehicles (AVs) navigating complex and uncertain environments. While recent end-to-end occupancy prediction methods have improved environmental understanding, they…

In autonomous driving, end-to-end planners learn scene representations from raw sensor data and utilize them to generate a motion plan or control actions. However, exclusive reliance on the current scene for motion planning may result in…

Nowadays, the ubiquity of various sensors enables the collection of voluminous datasets of car trajectories. Such datasets enable analysts to make sense of driving patterns and behaviors: in order to understand the behavior of drivers, one…

Accurate trajectory prediction is essential for the safety and efficiency of autonomous driving. Traditional models often struggle with real-time processing, capturing non-linearity and uncertainty in traffic environments, efficiency in…

The prediction of humans' short-term trajectories has advanced significantly with the use of powerful sequential modeling and rich environment feature extraction. However, long-term prediction is still a major challenge for the current…

Autonomous vehicles must navigate safely in complex driving environments. Imitating a single expert trajectory, as in regression-based approaches, usually does not explicitly assess the safety of the predicted trajectory. Selection-based…

Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…

We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…