相关论文: End-to-End Steering for Autonomous Vehicles via Co…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…

Current lane detection methods are struggling with the invisibility lane issue caused by heavy shadows, severe road mark degradation, and serious vehicle occlusion. As a result, discriminative lane features can be barely learned by the…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

Class-incremental learning (CIL) has been widely studied under the setting of starting from a small number of classes (base classes). Instead, we explore an understudied real-world setting of CIL that starts with a strong model pre-trained…

Multi-modal learning has emerged as a key technique for improving performance across domains such as autonomous driving, robotics, and reasoning. However, in certain scenarios, particularly in resource-constrained environments, some…

Continual Imitation Learning (CiL) involves extracting and accumulating task knowledge from demonstrations across multiple stages and tasks to achieve a multi-task policy. With recent advancements in foundation models, there has been a…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…

Instance-incremental learning (IIL) focuses on learning continually with data of the same classes. Compared to class-incremental learning (CIL), the IIL is seldom explored because IIL suffers less from catastrophic forgetting (CF). However,…

Optical sensors and learning algorithms for autonomous vehicles have dramatically advanced in the past few years. Nonetheless, the reliability of today's autonomous vehicles is hindered by the limited line-of-sight sensing capability and…

In this paper we present a complete study of an end-to-end imitation learning system for speed control of a real car, based on a neural network with a Long Short Term Memory (LSTM). To achieve robustness and generalization from expert…

Class incremental learning (CIL) aims to recognize both the old and new classes along the increment tasks. Deep neural networks in CIL suffer from catastrophic forgetting and some approaches rely on saving exemplars from previous tasks,…

Class-Incremental Learning (CIL) aims to continuously acquire new categories while preserving previously learned knowledge. Recently, Contrastive Language-Image Pre-trained (CLIP) models have shown strong potential for CIL due to their…

Class-Incremental Learning (CIL) is a critical capability for real-world applications, enabling learning systems to adapt to new tasks while retaining knowledge from previous ones. Recent advancements in pre-trained models (PTMs) have…

Planning-oriented end-to-end driving models show great promise, yet they fundamentally learn statistical correlations instead of true causal relationships. This vulnerability leads to causal confusion, where models exploit dataset biases as…

The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving. We combine MPC with a hierarchical learning-based policy,…

Class-incremental learning (CIL) aims to enable models to continuously learn new classes while overcoming catastrophic forgetting. The introduction of pre-trained models has brought new tuning paradigms to CIL. In this paper, we revisit…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…