相关论文: Developing Path Planning with Behavioral Cloning a…

Behavioral cloning (BC) provides a straightforward solution to offline RL by mimicking offline trajectories via supervised learning. Recent advances (Chen et al., 2021; Janner et al., 2021; Emmons et al., 2021) have shown that by…

Behavioural cloning (BC) is a commonly used imitation learning method to infer a sequential decision-making policy from expert demonstrations. However, when the quality of the data is not optimal, the resulting behavioural policy also…

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…

Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parameters-lookahead distance and steering gain-are chosen.…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Imitation learning holds great promise for addressing the complex task of autonomous urban driving, as experienced human drivers can navigate highly challenging scenarios with ease. While behavior cloning is a widely used imitation learning…

Humans often learn how to perform tasks via imitation: they observe others perform a task, and then very quickly infer the appropriate actions to take based on their observations. While extending this paradigm to autonomous agents is a…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

This paper proposes a imitation learning model for autonomous driving on highway traffic by mimicking human drivers' driving behaviours. The study utilizes the HighD traffic dataset, which is complex, high-dimensional, and diverse in…

We study ObjectGoal Navigation -- where a virtual robot situated in a new environment is asked to navigate to an object. Prior work has shown that imitation learning (IL) using behavior cloning (BC) on a dataset of human demonstrations…

Conditional imitation learning (CIL) trains deep neural networks, in an end-to-end manner, to mimic human driving. This approach has demonstrated suitable vehicle control when following roads, avoiding obstacles, or taking specific turns at…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

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…

For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Autonomous driving has achieved significant progress in recent years, but autonomous cars are still unable to tackle high-risk situations where a potential accident is likely. In such near-accident scenarios, even a minor change in the…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can…