相关论文: Autonomous Vehicle Controllers From End-to-End Dif…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

Deep reinforcement learning is actively used for training autonomous car policies in a simulated driving environment. Due to the large availability of various reinforcement learning algorithms and the lack of their systematic comparison…

Autonomous driving (AD) agents generate driving policies based on online perception results, which are obtained at multiple levels of abstraction, e.g., behavior planning, motion planning and control. Driving policies are crucial to the…

Industry has always been in the pursuit of becoming more economically efficient and the current focus has been to reduce human labour using modern technologies. Even with cutting edge technologies, which range from packaging robots to AI…

As autonomous driving systems being deployed to millions of vehicles, there is a pressing need of improving the system's scalability, safety and reducing the engineering cost. A realistic, scalable, and practical simulator of the driving…

In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…

We address the problem of ego-vehicle navigation in dense simulated traffic environments populated by road agents with varying driver behaviors. Navigation in such environments is challenging due to unpredictability in agents' actions…

Autonomous vehicle (AV) evaluation has been the subject of increased interest in recent years both in industry and in academia. This paper focuses on the development of a novel framework for generating adversarial driving behavior of…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…

This paper introduces CRITICAL, a novel closed-loop framework for autonomous vehicle (AV) training and testing. CRITICAL stands out for its ability to generate diverse scenarios, focusing on critical driving situations that target specific…

A central challenge for autonomous vehicles is coordinating with humans. Therefore, incorporating realistic human agents is essential for scalable training and evaluation of autonomous driving systems in simulation. Simulation agents are…

Intersections are quite challenging among various driving scenes wherein the interaction of signal lights and distinct traffic actors poses great difficulty to learn a wise and robust driving policy. Current research rarely considers the…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain,…

Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find…

Planning allows an agent to safely refine its actions before executing them in the real world. In autonomous driving, this is crucial to avoid collisions and navigate in complex, dense traffic scenarios. One way to plan is to search for the…