相关论文: Exploring the Causality of End-to-End Autonomous D…

The verification and validation of automated driving systems at SAE levels 4 and 5 is a multi-faceted challenge for which classical statistical considerations become infeasible. For this, contemporary approaches suggest a decomposition into…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

As research in deep neural networks advances, deep convolutional networks become promising for autonomous driving tasks. In particular, there is an emerging trend of employing end-to-end neural network models for autonomous driving.…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…

With recent advances in learning algorithms and hardware development, autonomous cars have shown promise when operating in structured environments under good driving conditions. However, for complex, cluttered and unseen environments with…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem…

End-to-end planning systems for autonomous driving are rapidly improving, especially in closed-loop simulation environments like CARLA. Many such driving systems either do not consider uncertainty as part of the plan itself or obtain it by…

We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for training and evaluating algorithms for autonomous racing. The…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

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…

Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes, but it has not yet been successfully used for automotive…

Driving safety is a top priority for autonomous vehicles. Orthogonal to prior work handling accident-prone traffic events by algorithm designs at the policy level, we investigate a Closed-loop Adversarial Training (CAT) framework for safe…

Deep neural perception and control networks have become key components of self-driving vehicles. User acceptance is likely to benefit from easy-to-interpret textual explanations which allow end-users to understand what triggered a…

End-to-end vision-based autonomous driving has achieved impressive success, but safety remains a major concern. The safe control problem has been addressed in low-dimensional settings using safety filters, e.g., those based on control…

Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces high performance but largely through black-box algorithms. We…

The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware for high performance race vehicles which aim to operate…

End-to-end autonomous driving systems are increasingly integrating Vision-Language Model (VLM) architectures, incorporating text reasoning or visual reasoning to enhance the robustness and accuracy of driving decisions. However, the…

End-to-end trained neural networks (NNs) are a compelling approach to autonomous vehicle control because of their ability to learn complex tasks without manual engineering of rule-based decisions. However, challenging road conditions,…

Deep neural network controllers for autonomous driving have recently benefited from significant performance improvements, and have begun deployment in the real world. Prior to their widespread adoption, safety guarantees are needed on the…