相关论文: Learning Multiple Probabilistic Decisions from Lat…

In high-conflict mixed-traffic scenarios involving human-driven and autonomous vehicles, most existing autonomous driving systems default to overly conservative behaviors, lack proactive interaction, and consequently suffer from limited…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

We present DriveGPT, a scalable behavior model for autonomous driving. We model driving as a sequential decision-making task, and learn a transformer model to predict future agent states as tokens in an autoregressive fashion. We scale up…

Existing learning-based autonomous driving (AD) systems face challenges in comprehending high-level information, generalizing to rare events, and providing interpretability. To address these problems, this work employs Large Language Models…

Recent advancements in driving world models enable controllable generation of high-quality RGB videos or multimodal videos. Existing methods primarily focus on metrics related to generation quality and controllability. However, they often…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios like autonomous driving, noncontrollable dynamics that are independent or sparsely dependent on action signals often exist,…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

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…

World models aim to improve robotic decision making by predicting the consequences of actions. However, in practice, their predictions often become unreliable once the robot encounters states outside the training distribution, limiting…

Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…

Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology…

Naturalistic driving action localization task aims to recognize and comprehend human behaviors and actions from video data captured during real-world driving scenarios. Previous studies have shown great action localization performance by…

Many important problems in the real world don't have unique solutions. It is thus important for machine learning models to be capable of proposing different plausible solutions with meaningful probability measures. In this work we introduce…

Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow.…

Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…

The paradigm of learning-based robotics holds immense promise, yet its translation to real-world applications is critically hindered by the sample inefficiency and brittleness of conventional model-free reinforcement learning algorithms. In…

There has been a lot of recent interest in designing neural network models to estimate a distribution from a set of examples. We introduce a simple modification for autoencoder neural networks that yields powerful generative models. Our…

In this work, we propose \texttt{TimeGrad}, an autoregressive model for multivariate probabilistic time series forecasting which samples from the data distribution at each time step by estimating its gradient. To this end, we use diffusion…