相关论文: Gen-Drive: Enhancing Diffusion Generative Driving …

Learning-based planners generate natural human-like driving behaviors by learning to reason about nuanced interactions from data, overcoming the rigid behaviors that arise from rule-based planners. Nonetheless, data-driven approaches often…

We address the problem of fine-tuning pre-trained generative policies with reinforcement learning (RL) while preserving the multimodality of their action distributions. Existing methods for RL fine-tuning of generative policies (e.g.,…

Diffusion-based planners have emerged as a promising approach for human-like trajectory generation in autonomous driving. Recent works incorporate reinforcement fine-tuning to enhance the robustness of diffusion planners through…

Path planning in complex environments is one of the key problems of artificial intelligence because it requires simultaneous understanding of the geometry of space and the global structure of the problem. In this paper, we explore the…

High-level autonomous driving requires motion planners capable of modeling multimodal future uncertainties while remaining robust in closed-loop interactions. Although diffusion-based planners are effective at modeling complex trajectory…

Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to generate trajectories that maximize both a differentiable…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…

Recent advances in diffusion models have led to impressive image generation capabilities, but aligning these models with human preferences remains challenging. Reward-based fine-tuning using models trained on human feedback improves…

Recent advances in motion planning for autonomous driving have led to models capable of generating high-quality trajectories. However, most existing planners tend to fix their policy after supervised training, leading to consistent but…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

Diffusion models recently emerged as a powerful paradigm for recommender systems, offering state-of-the-art performance by modeling the generative process of user-item interactions. However, training such models from scratch is both…

Realistic driving simulation requires that NPCs not only mimic natural driving behaviors but also react to the behavior of other simulated agents. Recent developments in diffusion-based scenario generation focus on creating diverse and…

Generative models, particularly diffusion models, have achieved remarkable success in density estimation for multimodal data, drawing significant interest from the reinforcement learning (RL) community, especially in policy modeling in…

Diffusion models have shown promising capabilities in trajectory generation for planning in offline reinforcement learning (RL). However, conventional diffusion-based planning methods often fail to account for the fact that generating…