相关论文: Learning Soft Driving Constraints from Vectorized …

This paper studies the constrained/safe reinforcement learning (RL) problem with sparse indicator signals for constraint violations. We propose a model-based approach to enable RL agents to effectively explore the environment with unknown…

Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…

Numerous embedding models have been recently explored to incorporate semantic knowledge into visual recognition. Existing methods typically focus on minimizing the distance between the corresponding images and texts in the embedding space…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…

World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can predict and adapt to dynamic environments. Existing methods…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Model-based reinforcement learning (RL) is anticipated to exhibit higher sample efficiency compared to model-free RL by utilizing a virtual environment model. However, it is challenging to obtain sufficiently accurate representations of the…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Autonomous vehicles hold great promise in improving the future of transportation. The driving models used in these vehicles are based on neural networks, which can be difficult to validate. However, ensuring the safety of these models is…

Conventional end-to-end autonomous driving methods often rely on explicit global scene representations, which typically consist of 3D object detection, online mapping, and motion prediction. In contrast, human drivers selectively attend to…

Imitation learning uses data for training policies to solve complex tasks. However, when the training data is collected from human demonstrators, it often leads to multimodal distributions because of the variability in human actions. Most…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

Reinforcement learning has demonstrated significant potential in the field of autonomous driving. However, it suffers from defects such as training instability and unsafe action outputs when faced with autonomous racing environments…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

In this work we investigate the problem of road scene semantic segmentation using Deconvolutional Networks (DNs). Several constraints limit the practical performance of DNs in this context: firstly, the paucity of existing pixel-wise…

Recent advances in supervised learning and reinforcement learning have provided new opportunities to apply related methodologies to automated driving. However, there are still challenges to achieve automated driving maneuvers in dynamically…

Learning from Demonstration allows robots to mimic human actions. However, these methods do not model constraints crucial to ensure safety of the learned skill. Moreover, even when explicitly modelling constraints, they rely on the…

Trajectory augmentation serves as a means to mitigate distributional shift in imitation learning. However, imitating trajectories that inadequately represent the original expert data can result in undesirable behaviors, particularly in…