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

Vision-based lane keeping is a topic of significant interest in the robotics and autonomous ground vehicles communities in various on-road and off-road applications. The skid-steered vehicle architecture has served as a useful vehicle…

In the scenario of class-incremental learning (CIL), deep neural networks have to adapt their model parameters to non-stationary data distributions, e.g., the emergence of new classes over time. However, CIL models are challenged by the…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

Grounding the instruction in the environment is a key step in solving language-guided goal-reaching reinforcement learning problems. In automated reinforcement learning, a key concern is to enhance the model's ability to generalize across…

End-to-end autonomous driving has been recently seen rapid development, exerting a profound influence on both industry and academia. However, the existing work places excessive focus on ego-vehicle status as their sole learning objectives…

This paper proposes a novel inverse reinforcement learning framework using a diffusion-based adaptive lookahead planner (IRL-DAL) for autonomous vehicles. Training begins with imitation from an expert finite state machine (FSM) controller…

Autonomous parking demands precise low-speed maneuvering within narrow, cluttered, and highly constrained environments, where vehicles must navigate tight spaces while avoiding static obstacles and complex geometric boundaries. Unlike…

Class Incremental Learning (CIL) aims to sequentially learn new classes while avoiding catastrophic forgetting of previous knowledge. We propose to use Masked Autoencoders (MAEs) as efficient learners for CIL. MAEs were originally designed…

In the behavioral cloning approach to end-to-end driving, a dataset of expert driving is collected and the model learns to guess what the expert would do in different situations. Situations are summarized in observations and the outputs are…

Traditional learning systems are trained in closed-world for a fixed number of classes, and need pre-collected datasets in advance. However, new classes often emerge in real-world applications and should be learned incrementally. For…

A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find…

The aim in imitation learning is to learn effective policies by utilizing near-optimal expert demonstrations. However, high-quality demonstrations from human experts can be expensive to obtain in large numbers. On the other hand, it is…

Class-Incremental Learning (CIL) aims to build classification models from data streams. At each step of the CIL process, new classes must be integrated into the model. Due to catastrophic forgetting, CIL is particularly challenging when…

Imitation learning enables high-fidelity, vision-based learning of policies within rich, photorealistic environments. However, such techniques often rely on traditional discrete-time neural models and face difficulties in generalizing to…

Class incremental learning (CIL) is a challenging setting of continual learning, which learns a series of tasks sequentially. Each task consists of a set of unique classes. The key feature of CIL is that no task identifier (or task-id) is…

Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…

Decision-making in long-tail scenarios is pivotal to autonomous-driving development, and realistic and challenging simulations play a crucial role in testing safety-critical situations. However, existing open-source datasets lack systematic…

Visual imitation learning provides an effective framework to learn skills from demonstrations. However, the quality of the provided demonstrations usually significantly affects the ability of an agent to acquire desired skills. Therefore,…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

Class incremental learning (CIL) trains a network on sequential tasks with separated categories in each task but suffers from catastrophic forgetting, where models quickly lose previously learned knowledge when acquiring new tasks. The…