相关论文: Enhancing End-to-End Autonomous Driving with Laten…

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…

Anticipating the motion of neighboring vehicles is crucial for autonomous driving, especially on congested highways where even slight motion variations can result in catastrophic collisions. An accurate prediction of a future trajectory…

Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…

Reinforcement Learning (RL) can mitigate the causal confusion and distribution shift inherent to imitation learning (IL). However, applying RL to end-to-end autonomous driving (E2E-AD) remains an open problem for its training difficulty,…

We present Flex, an efficient and effective scene encoder that addresses the computational bottleneck of processing high-volume multi-camera data in end-to-end autonomous driving. Flex employs a small set of learnable scene tokens to…

In recent years, significant progress has been made in scene text recognition by data-driven methods. However, due to the scarcity of annotated real-world data, the training of these methods predominantly relies on synthetic data. The…

Deep learning and computer vision techniques have become increasingly important in the development of self-driving cars. These techniques play a crucial role in enabling self-driving cars to perceive and understand their surroundings,…

Modern autonomous driving systems are typically divided into three main tasks: perception, prediction, and planning. The planning task involves predicting the trajectory of the ego vehicle based on inputs from both internal intention and…

Scaling Vision-Language-Action (VLA) models on large-scale data offers a promising path to achieving a more generalized driving intelligence. However, VLA models are limited by a ``supervision deficit'': the vast model capacity is…

End-to-End (E2E) planning has become a powerful paradigm for autonomous driving, yet current systems remain fundamentally uncertainty-blind. They assume perception outputs are fully reliable, even in ambiguous or poorly observed scenes,…

In this paper, a self-learning approach is proposed towards solving scene-specific pedestrian detection problem without any human' annotation involved. The self-learning approach is deployed as progressive steps of object discovery, object…

Multi-agent traffic simulation is central to developing and testing autonomous driving systems. Recent data-driven simulators have achieved promising results, but rely heavily on supervised learning from labeled trajectories or semantic…

The end-to-end autonomous driving paradigm has recently attracted lots of attention due to its scalability. However, existing methods are constrained by the limited scale of real-world data, which hinders a comprehensive exploration of the…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. Recently, with the rise of deep learning, end-to-end control…

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…

Clustering traffic scenarios and detecting novel scenario types are required for scenario-based testing of autonomous vehicles. These tasks benefit from either good similarity measures or good representations for the traffic scenarios. In…

Autonomous parking is a crucial task in the intelligent driving field. Traditional parking algorithms are usually implemented using rule-based schemes. However, these methods are less effective in complex parking scenarios due to the…

Diffusion models have demonstrated strong capabilities for modeling human-like driving behaviors in autonomous driving, but their iterative sampling process induces substantial latency, and operating directly on raw trajectory points forces…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…