相关论文: Behavior Cloning for Mini Autonomous Car Path Foll…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Our aim is to build autonomous agents that can solve tasks in environments like Minecraft. To do so, we used an imitation learning-based approach. We formulate our control problem as a search problem over a dataset of experts'…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

Autonomous vehicles should be able to predict the future states of its environment and respond appropriately. Specifically, predicting the behavior of surrounding human drivers is vital for such platforms to share the same road with humans.…

Perception of the lane boundaries is crucial for the tasks related to autonomous trajectory control. In this paper, several methodologies for lane detection are discussed with an experimental illustration: Hough transformation, Blob…

Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

While automated driving technology has achieved a tremendous progress, the scalable and rigorous testing and verification of safe automated and autonomous driving vehicles remain challenging. This paper proposes a learning-based…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…

This report demonstrates several methods used to make a self-driving vehicle using a supervised learning algorithm and a forward-facing RGBD camera. The project originally involved research in creating an adversarial attack on the vehicle's…

This paper presents a vehicle lateral controller based on spiking neural networks capable of replicating the behavior of a model-based controller but with the additional ability to perform online adaptation. By making use of neural…

Learning-based behavior prediction methods are increasingly being deployed in real-world autonomous systems, e.g., in fleets of self-driving vehicles, which are beginning to commercially operate in major cities across the world. Despite…

Characterizing driving styles of human drivers using vehicle sensor data, e.g., GPS, is an interesting research problem and an important real-world requirement from automotive industries. A good representation of driving features can be…

Automated driving systems are often used for lane keeping tasks. By these systems, a local path is planned ahead of the vehicle. However, these paths are often found unnatural by human drivers. We propose a linear driver model, which can…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a human-inspired Adaptive Cruise Control. A control law is proposed with the design goal of…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

Simulation is the key to scaling up validation and verification for robotic systems such as autonomous vehicles. Despite advances in high-fidelity physics and sensor simulation, a critical gap remains in simulating realistic behaviors of…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…