相关论文: AdvDiffuser: Generating Adversarial Safety-Critica…

Adversarial attack methods for 3D point cloud classification reveal the vulnerabilities of point cloud recognition models. This vulnerability could lead to safety risks in critical applications that use deep learning models, such as…

Neural networks are known to be susceptible to adversarial samples: small variations of natural examples crafted to deliberately mislead the models. While they can be easily generated using gradient-based techniques in digital and physical…

In this paper we describe a learned method of traffic scene generation designed to simulate the output of the perception system of a self-driving car. In our "Scene Diffusion" system, inspired by latent diffusion, we use a novel combination…

Accurate prediction of human or vehicle trajectories with good diversity that captures their stochastic nature is an essential task for many applications. However, many trajectory prediction models produce unreasonable trajectory samples…

In recent years, diffusion models have demonstrated remarkable potential across diverse domains, from vision generation to language modeling. Transferring its generative capabilities to modern end-to-end autonomous driving systems has also…

Adversarial attacks involve adding perturbations to the source image to cause misclassification by the target model, which demonstrates the potential of attacking face recognition models. Existing adversarial face image generation methods…

Simulating diverse and realistic traffic scenarios is critical for developing and testing autonomous planning. Traditional rule-based planners lack diversity and realism, while learning-based simulators often replay, forecast, or edit…

Diffusion models have demonstrated their powerful generative capability in many tasks, with great potential to serve as a paradigm for offline reinforcement learning. However, the quality of the diffusion model is limited by the…

Model-free reinforcement learning has emerged as a powerful method for developing robust robot control policies capable of navigating through complex and unstructured terrains. The effectiveness of these methods hinges on two essential…

Autonomous driving systems require comprehensive evaluation in safety-critical scenarios to ensure safety and robustness. However, such scenarios are rare and difficult to collect from real-world driving data, necessitating simulation-based…

Evaluating and training autonomous driving systems require diverse and scalable corner cases. However, most existing scene generation methods lack controllability, accuracy, and versatility, resulting in unsatisfactory generation results.…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Generating safety-critical driving scenarios is crucial for evaluating and improving autonomous driving systems, but long-tail risky situations are rarely observed in real-world data and difficult to specify through manual scenario design.…

Vision-centric perception systems for autonomous driving have gained considerable attention recently due to their cost-effectiveness and scalability, especially compared to LiDAR-based systems. However, these systems often struggle in…

Existing traffic simulation models often fall short in capturing the intricacies of real-world scenarios, particularly the interactive behaviors among multiple traffic participants, thereby limiting their utility in the evaluation and…

Ensuring safe interactions between autonomous vehicles (AVs) and human drivers in mixed traffic systems remains a major challenge, particularly in complex, high-risk scenarios. This paper presents a cognition-decision framework that…

Evaluating the decision-making system is indispensable in developing autonomous vehicles, while realistic and challenging safety-critical test scenarios play a crucial role. Obtaining these scenarios is non-trivial, thanks to the…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and skills, mobile manipulation-a capability that requires the…

LiDAR scenes constitute a fundamental source for several autonomous driving applications. Despite the existence of several datasets, scenes from adverse weather conditions are rarely available. This limits the robustness of downstream…