相关论文: Good Data Is All Imitation Learning Needs

Car-following (CF) modeling, a fundamental component in microscopic traffic simulation, has attracted increasing interest of researchers in the past decades. In this study, we propose an adaptable personalized car-following framework…

Counterfactual Explanations (CEs) are a powerful technique used to explain Machine Learning models by showing how the input to a model should be minimally changed for the model to produce a different output. Similar proposals have been made…

End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated…

Counterfactual explanations (CFEs) highlight what changes to a model's input would have changed its prediction in a particular way. CFEs have gained considerable traction as a psychologically grounded solution for explainable artificial…

Counterfactual explanations (CFEs) are essential for interpreting black-box models, yet they often become invalid when models are slightly changed. Existing methods for generating robust CFEs are often limited to specific types of models,…

Counterfactual explanations (CFEs) are minimal and semantically meaningful modifications of the input of a model that alter the model predictions. They highlight the decisive features the model relies on, providing contrastive…

The success of automated driving deployment is highly depending on the ability to develop an efficient and safe driving policy. The problem is well formulated under the framework of optimal control as a cost optimization problem. Model…

Learning-based autonomous driving systems are trained mostly on incident-free data, offering little guidance near safety-performance boundaries. Real crash reports contain precisely the contrastive evidence needed, but they are hard to use:…

Imitation learning based planning tasks on the nuPlan dataset have gained great interest due to their potential to generate human-like driving behaviors. However, open-loop training on the nuPlan dataset tends to cause causal confusion…

Machine learning models are widely used in real-world applications. However, their complexity makes it often challenging to interpret the rationale behind their decisions. Counterfactual explanations (CEs) have emerged as a viable solution…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

To construct interpretable explanations that are consistent with the original ML model, counterfactual examples---showing how the model's output changes with small perturbations to the input---have been proposed. This paper extends the work…

Learning-based approaches, such as reinforcement and imitation learning are gaining popularity in decision-making for autonomous driving. However, learned policies often fail to generalize and cannot handle novel situations well. Asking and…

Counterfactual explanations (CFEs) provide actionable recourse, but most methods assume a static framework with fixed data and a trained classifier. This assumption breaks in evolving data environments, such as data streams, where online…

Counterfactual explanations (CFEs) guide users on how to adjust inputs to machine learning models to achieve desired outputs. While existing research primarily addresses static scenarios, real-world applications often involve data or model…

In this paper, we introduce Context-Aware Priority Sampling (CAPS), a novel method designed to enhance data efficiency in learning-based autonomous driving systems. CAPS addresses the challenge of imbalanced datasets in imitation learning…

Advanced Driver Assistance Systems (ADAS) improve driving safety significantly. They alert drivers from unsafe traffic conditions when a dangerous maneuver appears. Traditional methods to predict driving maneuvers are mostly based on…

Explainable Artificial Intelligence (XAI) has emerged as a critical area of research aimed at enhancing the transparency and interpretability of AI systems. Counterfactual Explanations (CFEs) offer valuable insights into the decision-making…

Recent reasoning-augmented Vision-Language-Action (VLA) models have improved the interpretability of end-to-end autonomous driving by generating intermediate reasoning traces. Yet these models primarily describe what they perceive and…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…