相关论文: Rethinking Closed-loop Planning Framework for Imit…

With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

In this work, we propose the world's first closed-loop ML-based planning benchmark for autonomous driving. While there is a growing body of ML-based motion planners, the lack of established datasets and metrics has limited the progress in…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

Motion planning is crucial for safe navigation in complex urban environments. Historically, motion planners (MPs) have been evaluated with procedurally-generated simulators like CARLA. However, such synthetic benchmarks do not capture…

Real-world autonomous driving systems must make safe decisions in the face of rare and diverse traffic scenarios. Current state-of-the-art planners are mostly evaluated on real-world datasets like nuScenes (open-loop) or nuPlan…

In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, the overall system performance could be significantly weakened…

Recent advances in closed-loop planning benchmarks have significantly improved the evaluation of autonomous vehicles. However, existing benchmarks still rely on rule-based reactive agents such as the Intelligent Driver Model (IDM), which…

As the pretraining technique is growing in popularity, little work has been done on pretrained learning-based motion prediction methods in autonomous driving. In this paper, we propose a framework to formalize the pretraining task for…

Predicting the future states of surrounding traffic participants and planning a safe, smooth, and socially compliant trajectory accordingly is crucial for autonomous vehicles. There are two major issues with the current autonomous driving…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…

Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by…

Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…

Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

In recent years, imitation-based driving planners have reported considerable success. However, due to the absence of a standardized benchmark, the effectiveness of various designs remains unclear. The newly released nuPlan addresses this…

We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner…