相关论文: Foundation Models for Rapid Autonomy Validation

The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…

Traditional methods for developing and evaluating autonomous driving functions, such as model-in-the-loop (MIL) and hardware-in-the-loop (HIL) simulations, heavily depend on the accuracy of simulated vehicle models and human factors,…

Reinforcement learning has shown great potential in generalizing over raw sensory data using only a single neural network for value optimization. There are several challenges in the current state-of-the-art reinforcement learning algorithms…

Masked Autoencoder~(MAE) is a prevailing self-supervised learning method that achieves promising results in model pre-training. However, when the various downstream tasks have data distributions different from the pre-training data, the…

Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…

Responsible deployment of language models requires mechanisms for refusing unsafe prompts while preserving model performance. While most approaches modify model weights through additional training, we explore an alternative: steering model…

A major challenge for autonomous vehicles is interacting with other traffic participants safely and smoothly. A promising approach to handle such traffic interactions is equipping autonomous vehicles with interaction-aware controllers…

Trajectory generation and prediction are two interwoven tasks that play important roles in planner evaluation and decision making for intelligent vehicles. Most existing methods focus on one of the two and are optimized to directly output…

Pedestrians' safety is a crucial factor in assessing autonomous driving scenarios. However, pedestrian safety evaluation is rarely considered by existing autonomous driving simulation platforms. This paper proposes a pedestrian safety…

Scalable multi-agent driving simulation requires behavior models that are both realistic and computationally efficient. We address this by optimizing the behavior model that controls individual traffic participants. To improve efficiency,…

To achieve high-levels of autonomy, modern robots require the ability to detect and recover from anomalies and failures with minimal human supervision. Multi-modal sensor signals could provide more information for such anomaly detection…

Autoencoders have found widespread application in both their original deterministic form and in their variational formulation (VAEs). In scientific applications and in image processing it is often of interest to consider data that are…

During the development of autonomous systems such as driverless cars, it is important to characterize the scenarios that are most likely to result in failure. Adaptive Stress Testing (AST) provides a way to search for the most-likely…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

Many research papers have recently focused on behavioral-based driver authentication systems in vehicles. Pushed by Artificial Intelligence (AI) advancements, these works propose powerful models to identify drivers through their unique…

It is hard to test autonomous robot (AR) software because of the range and diversity of external situations (terrain, obstacles, humans, peer robots) that AR must deal with. Common measures of testing adequacy may not address this…

Automated vehicles (AVs) must be evaluated thoroughly before their release and deployment. A widely-used evaluation approach is the Naturalistic-Field Operational Test (N-FOT), which tests prototype vehicles directly on the public roads.…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully…

When AI interacts with the physical world -- as a robot or an assistive agent -- new safety challenges emerge beyond those of purely ``digital AI". In such interactions, the potential for physical harm is direct and immediate. How well do…