相关论文: End-to-End Autonomous Driving without Costly Modul…

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…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

Learning a human-like driving policy from large-scale driving demonstrations is promising, but the uncertainty and non-deterministic nature of planning make it challenging. Existing learning-based planning methods follow a deterministic…

Conventional end-to-end (E2E) driving models are effective at generating physically plausible trajectories, but often fail to generalize to long-tail scenarios due to the lack of essential world knowledge to understand and reason about…

Planning the trajectory of the controlled ego vehicle is a key challenge in automated driving. As for human drivers, predicting the motions of surrounding vehicles is important to plan the own actions. Recent motion prediction methods…

Human driving behavior is inherently diverse, yet most end-to-end autonomous driving (E2E-AD) systems learn a single average driving style, neglecting individual differences. Achieving personalized E2E-AD faces challenges across three…

In the spectrum of vision-based autonomous driving, vanilla end-to-end models are not interpretable and suboptimal in performance, while mediated perception models require additional intermediate representations such as segmentation masks…

3D semantic occupancy prediction is central to autonomous driving, yet current methods are vulnerable to long-tailed class bias and out-of-distribution (OOD) inputs, often overconfidently assigning anomalies to rare classes. We present…

End-to-end autonomous driving recently emerged as a promising research direction to target autonomy from a full-stack perspective. Along this line, many of the latest works follow an open-loop evaluation setting on nuScenes to study the…

Autonomous driving policies are typically trained via open-loop behavior cloning of human demonstrations. However, such policies suffer from covariate shift when deployed in closed loop, leading to compounding errors. We introduce Rollouts…

Diffusion models have established themselves as the de facto primary paradigm in visual generative modeling, revolutionizing the field through remarkable success across various diverse applications ranging from high-quality image synthesis…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

We propose ComDrive: the first comfort-oriented end-to-end autonomous driving system to generate temporally consistent and comfortable trajectories. Recent studies have demonstrated that imitation learning-based planners and learning-based…

Recent advances in generative models have sparked exciting new possibilities in the field of autonomous vehicles. Specifically, video generation models are now being explored as controllable virtual testing environments. Simultaneously,…

Building a multi-modality multi-task neural network toward accurate and robust performance is a de-facto standard in perception task of autonomous driving. However, leveraging such data from multiple sensors to jointly optimize the…

Building robust 3D perception for self-driving still relies heavily on large-scale data collection and manual annotation, yet this paradigm becomes impractical as deployment expands across diverse cities and regions. Meanwhile, modern…

World models have demonstrated significant promise for data synthesis in autonomous driving. However, existing methods predominantly concentrate on single-modality generation, typically focusing on either multi-camera video or LiDAR…

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…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Vision-based autonomous urban driving in dense traffic is quite challenging due to the complicated urban environment and the dynamics of the driving behaviors. Widely-applied methods either heavily rely on hand-crafted rules or learn from…