相关论文: RouteFinder: Towards Foundation Models for Vehicle…

Path planning in dynamic environments is a fundamental challenge in intelligent transportation and robotics, where obstacles and conditions change over time, introducing uncertainty and requiring continuous adaptation. While existing…

Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

This paper studies robust variants of an extended model of the classical Heterogeneous Vehicle Routing Problem (HVRP), where a mixed fleet of vehicles with different capacities, availabilities, fixed costs and routing costs is used to serve…

Heated debates continue over the best autonomous driving framework. The classic modular pipeline is widely adopted in the industry owing to its great interpretability and stability, whereas the fully end-to-end paradigm has demonstrated…

The goal of this paper is to investigate a decision support system for vehicle routing, where the routing engine learns from the subjective decisions that human planners have made in the past, rather than optimizing a distance-based…

Fine-tuning foundation models has emerged as a powerful approach for generating objects with specific desired properties. Reinforcement learning (RL) provides an effective framework for this purpose, enabling models to generate outputs that…

This research proposes a hybrid Machine Learning and metaheuristic mechanism that is designed to solve Vehicle Routing Problems (VRPs). The main of our method is an edge solution selector model, which classifies solution edges to identify…

Traditional trajectory planning methods for autonomous vehicles have several limitations. For example, heuristic and explicit simple rules limit generalizability and hinder complex motions. These limitations can be addressed using…

We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…

Heavy goods vehicles are vital backbones of the supply chain delivery system but also contribute significantly to carbon emissions with only 60% loading efficiency in the United Kingdom. Collaborative vehicle routing has been proposed as a…

Reinforcement Learning (RL) algorithms often struggle with low training efficiency. A common approach to address this challenge is integrating model-based planning algorithms, such as Monte Carlo Tree Search (MCTS) or Value Iteration (VI),…

Predicting distant future trajectories of agents in a dynamic scene is not an easy problem because the future trajectory of an agent is affected by not only his/her past trajectory but also the scene contexts. To tackle this problem, we…

Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…

Recent neural combinatorial optimization (NCO) methods have shown promising problem-solving ability without requiring domain-specific expertise. Most existing NCO methods use training and testing data with a fixed constraint value and lack…

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…

Transportation modes prediction is a fundamental task for decision making in smart cities and traffic management systems. Traffic policies designed based on trajectory mining can save money and time for authorities and the public. It may…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Trajectory planning is a core task in autonomous driving, requiring the prediction of safe and comfortable paths across diverse scenarios. Integrating Multi-modal Large Language Models (MLLMs) with Reinforcement Learning (RL) has shown…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…