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

In the behavioral cloning approach to end-to-end driving, a dataset of expert driving is collected and the model learns to guess what the expert would do in different situations. Situations are summarized in observations and the outputs are…

Latency-accuracy tradeoffs are fundamental in real-time applications of deep neural networks (DNNs) for cyber-physical systems. In autonomous driving, in particular, safety depends on both prediction quality and the end-to-end delay from…

Causality is the relationship where one event contributes to the production of another, with the cause being partly responsible for the effect and the effect partly dependent on the cause. In this paper, we propose a novel and effective…

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative…

Concept bottleneck models have been successfully used for explainable machine learning by encoding information within the model with a set of human-defined concepts. In the context of human-assisted or autonomous driving, explainability…

End-to-End (E2E) autonomous driving models have shown growing capability in recent years, with performance improving on increasingly challenging benchmarks. However, modern generative E2E planners still suffer from a substantial number of…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

There is considerable evidence that deep neural networks are vulnerable to adversarial perturbations applied directly to their digital inputs. However, it remains an open question whether this translates to vulnerabilities in real systems.…

The rapid development of artificial intelligence, especially deep learning technology, has advanced autonomous driving systems (ADSs) by providing precise control decisions to counterpart almost any driving event, spanning from anti-fatigue…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Fully autonomous driving has been widely studied and is becoming increasingly feasible. However, such autonomous driving has yet to be achieved on public roads, because of various uncertainties due to surrounding human drivers and…

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…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

Safety is a critical concern in motion planning for autonomous vehicles. Modern autonomous vehicles rely on neural network-based perception, but making control decisions based on these inference results poses significant safety risks due to…

Accurate trajectory prediction has long been a major challenge for autonomous driving (AD). Traditional data-driven models predominantly rely on statistical correlations, often overlooking the causal relationships that govern traffic…

The growing integration of robots in shared environments-such as warehouses, shopping centres, and hospitals-demands a deep understanding of the underlying dynamics and human behaviours, including how, when, and where individuals engage in…

Ensuring the safety of autonomous vehicles (AVs) is the key requisite for their acceptance in society. This complexity is the core challenge in formally proving their safety conditions with AI-based black-box controllers and surrounding…

This literature review focuses on three important aspects of an autonomous car system: tracking (assessing the identity of the actors such as cars, pedestrians or obstacles in a sequence of observations), prediction (predicting the future…

Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…