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

Safety-critical scenarios are essential for the development of autonomous vehicles (AVs) but are rare in real-world driving data. While simulation offers a way to generate such scenarios, manually designed test cases lack scalability, and…

Drivable Free-space prediction is a fundamental and crucial problem in autonomous driving. Recent works have addressed the problem by representing the entire non-obstacle road regions as the free-space. In contrast our aim is to estimate…

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 have made substantial progress in facilitating image generation and editing. As the technology matures, we see its potential in the context of driving simulations to enhance the simulated experience. In this paper, we…

In this paper, we introduce a novel approach to trajectory generation for autonomous driving, combining the strengths of Diffusion models and Transformers. First, we use the historical trajectory data for efficient preprocessing and…

Traffic simulation, complementing real-world data with a long-tail distribution, allows for effective evaluation and enhancement of the ability of autonomous vehicles to handle accident-prone scenarios. Simulating such safety-critical…

As autonomous driving technology matures, safety and robustness of its key components, including trajectory prediction, is vital. Though real-world datasets, such as Waymo Open Motion, provide realistic recorded scenarios for model…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

Accurate and uncertainty-aware trajectory prediction remains a core challenge for autonomous driving, driven by complex multi-agent interactions, diverse scene contexts and the inherently stochastic nature of future motion. Diffusion-based…

Collecting multi-view driving scenario videos to enhance the performance of 3D visual perception tasks presents significant challenges and incurs substantial costs, making generative models for realistic data an appealing alternative. Yet,…

Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scene flow estimation approaches achieve a reasonable accuracy,…

Conditional diffusion models have exhibited superior performance in high-fidelity text-guided visual generation and editing. Nevertheless, prevailing text-guided visual diffusion models primarily focus on incorporating text-visual…

Perception module of Autonomous vehicles (AVs) are increasingly susceptible to be attacked, which exploit vulnerabilities in neural networks through adversarial inputs, thereby compromising the AI safety. Some researches focus on creating…

Although deep learning-based visual tracking methods have made significant progress, they exhibit vulnerabilities when facing carefully designed adversarial attacks, which can lead to a sharp decline in tracking performance. To address this…

We introduce Adversarial Diffusion Distillation (ADD), a novel training approach that efficiently samples large-scale foundational image diffusion models in just 1-4 steps while maintaining high image quality. We use score distillation to…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Deep neural networks (DNNs) have been proven extremely susceptible to adversarial examples, which raises special safety-critical concerns for DNN-based autonomous driving stacks (i.e., 3D object detection). Although there are extensive…

With wider application of deep neural networks (DNNs) in various algorithms and frameworks, security threats have become one of the concerns. Adversarial attacks disturb DNN-based image classifiers, in which attackers can intentionally add…

Path planning for a robotic system in high-dimensional cluttered environments needs to be efficient, safe, and adaptable for different environments and hardware. Conventional methods face high computation time and require extensive…

Employing a forward diffusion chain to gradually map the data to a noise distribution, diffusion-based generative models learn how to generate the data by inferring a reverse diffusion chain. However, this approach is slow and costly…