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

Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex…

End-to-end autonomous driving has drawn tremendous attention recently. Many works focus on using modular deep neural networks to construct the end-to-end archi-tecture. However, whether using powerful large language models (LLM), especially…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…

Vision-based autonomous driving has gained much attention due to its low costs and excellent performance. Compared with dense BEV (Bird's Eye View) or sparse query models, Gaussian-centric method is a comprehensive yet sparse representation…

Safety and decline of road traffic accidents remain important issues of autonomous driving. Statistics show that unintended lane departure is a leading cause of worldwide motor vehicle collisions, making lane detection the most promising…

Deep learning models obtain impressive accuracy in road scenes understanding, however they need a large quantity of labeled samples for their training. Additionally, such models do not generalise well to environments where the statistical…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…

The continual evolution of autonomous driving technology requires car-following models that can adapt to diverse and dynamic traffic environments. Traditional learning-based models often suffer from performance degradation when encountering…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

Decision-making for urban autonomous driving is challenging due to the stochastic nature of interactive traffic participants and the complexity of road structures. Although reinforcement learning (RL)-based decision-making scheme is…

Current end-to-end autonomous driving planners are fundamentally reactive: they condition on historical and present observations to predict future actions. We argue that autonomous agents should instead imagine future scenes before…

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;…

Humans navigate complex environments in an organized yet flexible manner, adapting to the context and implicit social rules. Understanding these naturally learned patterns of behavior is essential for applications such as autonomous…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Trustworthy AI is mandatory for the broad deployment of autonomous vehicles. Although end-to-end approaches derive control commands directly from raw data, interpreting these decisions remains challenging, especially in complex urban…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…