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

The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

Over the past few years there is a growing interest in the learning-based self driving system. To ensure safety, such systems are first developed and validated in simulators before being deployed in the real world. However, most of the…

Collision risk estimation and avoidance play central roles in the safety of autonomous driving (AD) systems. Recently emerged end-to-end AD systems gain collision avoidance ability by minimizing losses to penalize planning trajectories that…

With the advent of universal function approximators in the domain of reinforcement learning, the number of practical applications leveraging deep reinforcement learning (DRL) has exploded. Decision-making in autonomous vehicles (AVs) has…

A typical trajectory planner of autonomous driving commonly relies on predicting the future behavior of surrounding obstacles. Recently, deep learning technology has been widely adopted to design prediction models due to their impressive…

Driving scene understanding is to obtain comprehensive scene information through the sensor data and provide a basis for downstream tasks, which is indispensable for the safety of self-driving vehicles. Specific perception tasks, such as…

Autonomous driving technology has drawn a lot of attention due to its fast development and extremely high commercial values. The recent technological leap of autonomous driving can be primarily attributed to the progress in the environment…

Autonomous vehicles are advanced driving systems that are well known to be vulnerable to various adversarial attacks, compromising vehicle safety and posing a risk to other road users. Rather than actively training complex adversaries by…

Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…

Autonomous driving is a research direction that has gained enormous traction in the last few years thanks to advancements in Artificial Intelligence (AI). Depending on the level of independence from the human driver, several studies show…

Vision-Language-Action (VLA) models with integrated reasoning have been proposed for end-to-end autonomous driving, assuming a tight coupling between reasoning and trajectory generation. However, the robustness of such systems under…

Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…

The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…

There is an ever-growing zoo of modern neural network models that can efficiently learn end-to-end control from visual observations. These advanced deep models, ranging from convolutional to patch-based networks, have been extensively…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…