相关论文: KiGRAS: Kinematic-Driven Generative Model for Real…

Autonomous driving system development is critically dependent on the ability to replay complex and diverse traffic scenarios in simulation. In such scenarios, the ability to accurately simulate the vehicle sensors such as cameras, lidar or…

Recently, an abundant amount of urban vehicle trajectory data has been collected in road networks. Many studies have used machine learning algorithms to analyze patterns in vehicle trajectories to predict location sequences of individual…

In robotic visuomotor policy learning, diffusion-based models have achieved significant success in improving the accuracy of action trajectory generation compared to traditional autoregressive models. However, they suffer from inefficiency…

World models aim to simulate environments and enable effective agent behavior. However, modeling real-world environments presents unique challenges as they dynamically change across both space and, crucially, time. To capture these composed…

From metronomes to celestial bodies, mechanics underpins how the world evolves in time and space. With consideration of this, a number of recent neural network models leverage inductive biases from classical mechanics to encourage model…

Autonomous-driving simulators typically trade physical fidelity for scalable parallelism. Physics-based platforms such as CARLA and MetaDrive provide articulated vehicle dynamics and contact, but their non-vectorized interfaces make batched…

Accurate trajectory prediction of vehicles is essential for reliable autonomous driving. To maintain consistent performance as a vehicle driving around different cities, it is crucial to adapt to changing traffic circumstances and achieve…

The development of driving functions for autonomous vehicles in urban environments is still a challenging task. In comparison with driving on motorways, a wide variety of moving road users, such as pedestrians or cyclists, but also the…

Modeling the 3D world from sensor data for simulation is a scalable way of developing testing and validation environments for robotic learning problems such as autonomous driving. However, manually creating or re-creating real-world-like…

Generative models have fundamentally reshaped the landscape of decision-making, reframing the problem from pure scalar reward maximization to high-fidelity trajectory generation and distribution matching. This paradigm shift addresses…

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by…

Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…

Text-to-motion generation has attracted increasing attention in the research community recently, with potential applications in animation, virtual reality, robotics, and human-computer interaction. Diffusion and autoregressive models are…

Safety assessment of crash and conflict avoidance systems is important for both the automotive industry and other stakeholders. One type of system that needs such an assessment is a driver monitoring system (DMS) with some intervention…

The safety and reliability of Automated Driving Systems (ADS) are paramount, necessitating rigorous testing methodologies to uncover potential failures before deployment. Traditional testing approaches often prioritize either natural…

Generating representative rear-end crash scenarios is crucial for safety assessments of Advanced Driver Assistance Systems (ADAS) and Automated Driving systems (ADS). However, existing methods for scenario generation face challenges such as…

Despite rapid advances in text-to-image generation, faithfully realizing user intent remains challenging, often requiring manual multi-turn trial and error. To automate this process, existing systems rely on either simple prompt rewriting…

Recent advances in diffusion models have improved controllable streetscape generation and supported downstream perception and planning tasks. However, challenges remain in accurately modeling driving scenes and generating long videos. To…

Trajectory planning is a fundamental task on various autonomous driving platforms, such as social robotics and self-driving cars. Many trajectory planning algorithms use a reference curve based Frenet frame with time to reduce the planning…

This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…