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

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

Autonomous driving is a complex task, which has been tackled since the first self-driving car ALVINN in 1989, with a supervised learning approach, or behavioral cloning (BC). In BC, a neural network is trained with state-action pairs that…

Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…

Evaluating autonomous vehicle stacks (AVs) in simulation typically involves replaying driving logs from real-world recorded traffic. However, agents replayed from offline data are not reactive and hard to intuitively control. Existing…

Scalable multi-agent driving simulation requires behavior models that are both realistic and computationally efficient. We address this by optimizing the behavior model that controls individual traffic participants. To improve efficiency,…

Achieving fully autonomous driving systems requires learning rational decisions in a wide span of scenarios, including safety-critical and out-of-distribution ones. However, such cases are underrepresented in real-world corpus collected by…

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…

We consider the problem of designing scalable and portable controllers for unmanned aerial vehicles (UAVs) to reach time-varying formations as quickly as possible. This brief confirms that deep reinforcement learning can be used in a…

Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…

Autonomous driving vehicles with self-learning capabilities are expected to evolve in complex environments to improve their ability to cope with different scenarios. However, most self-learning algorithms suffer from low learning efficiency…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

The deployment of autonomous vehicles (AVs) has faced hurdles due to the dominance of rare but critical corner cases within the long-tail distribution of driving scenarios, which negatively affects their overall performance. To address this…

Autonomous Driving requires high levels of coordination and collaboration between agents. Achieving effective coordination in multi-agent systems is a difficult task that remains largely unresolved. Multi-Agent Reinforcement Learning has…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

An intelligent driving system should dynamically formulate appropriate driving strategies based on the current environment and vehicle status while ensuring system security and reliability. However, methods based on reinforcement learning…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can predict and adapt to dynamic environments. Existing methods…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…