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

Learning to perform accurate and rich simulations of human driving behaviors from data for autonomous vehicle testing remains challenging due to human driving styles' high diversity and variance. We address this challenge by proposing a…

With ongoing development of autonomous driving systems and increasing desire for deployment, researchers continue to seek reliable approaches for ADS systems. The virtual simulation test (VST) has become a prominent approach for testing…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

This paper addresses the problem of generating dynamically admissible trajectories for control tasks using diffusion models, particularly in scenarios where the environment is complex and system dynamics are crucial for practical…

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…

Recent work has framed decision-making as a sequence modeling problem using generative models such as diffusion models. Although promising, these approaches often overlook latent factors that exhibit evolving dynamics, elements that are…

Bird's-eye-view (BEV) representations play a crucial role in autonomous driving tasks. Despite recent advancements in BEV generation, inherent noise, stemming from sensor limitations and the learning process, remains largely unaddressed,…

Vehicle trajectory prediction is crucial for advancing autonomous driving and advanced driver assistance systems (ADAS). Although deep learning-based approaches - especially those utilizing transformer-based and generative models - have…

Diffusion-based planners have shown strong potential for autonomous driving by capturing multi-modal driving behaviors. A key challenge is how to effectively guide these models for safe and reactive planning in closed-loop settings, where…

With the increasing popularity of autonomous driving based on the powerful and unified bird's-eye-view (BEV) representation, a demand for high-quality and large-scale multi-view video data with accurate annotation is urgently required.…

The generation of safety-critical scenarios in simulation has become increasingly crucial for safety evaluation in autonomous vehicles prior to road deployment in society. However, current approaches largely rely on predefined threat…

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…

In many real-world settings, agents must learn from an offline dataset gathered by some prior behavior policy. Such a setting naturally leads to distribution shift between the behavior policy and the target policy being trained - requiring…

End-to-end planning systems for autonomous driving are rapidly improving, especially in closed-loop simulation environments like CARLA. Many such driving systems either do not consider uncertainty as part of the plan itself or obtain it by…

Autonomous driving training requires a diverse range of datasets encompassing various traffic conditions, weather scenarios, and road types. Traditional data augmentation methods often struggle to generate datasets that represent rare…

Generating safe and reliable trajectories for autonomous vehicles in long-tail scenarios remains a significant challenge, particularly for high-lateral-acceleration maneuvers such as sharp turns, which represent critical safety situations.…

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…

Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task environments with unpredictable interactions and an increased…

Achieving safe and stylized trajectory planning in complex real-world scenarios remains a critical challenge for autonomous driving systems. This paper proposes the SDD Planner, a diffusion-based framework designed to effectively reconcile…