相关论文: GPD-1: Generative Pre-training for Driving

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Safety validation of autonomous driving systems requires high-risk scenario coverage, clear collision semantics, executable trajectories, and attributable multi-vehicle interactions. Existing safety-critical scenario generation methods…

It is a long-term vision for Autonomous Driving (AD) community that the perception models can learn from a large-scale point cloud dataset, to obtain unified representations that can achieve promising results on different tasks or…

Safe and feasible trajectory planning is critical for real-world autonomous driving systems. However, existing learning-based planners rely heavily on expert demonstrations, which not only lack explicit safety awareness but also risk…

Text autoencoders are commonly used for conditional generation tasks such as style transfer. We propose methods which are plug and play, where any pretrained autoencoder can be used, and only require learning a mapping within the…

Intrinsically, driving is a Markov Decision Process which suits well the reinforcement learning paradigm. In this paper, we propose a novel agent which learns to drive a vehicle without any human assistance. We use the concept of…

Recently, pre-training methods have shown remarkable success in task-oriented dialog (TOD) systems. However, most existing pre-trained models for TOD focus on either dialog understanding or dialog generation, but not both. In this paper, we…

3D pre-training is crucial to 3D perception tasks. Nevertheless, limited by the difficulties in collecting clean and complete 3D data, 3D pre-training has persistently faced data scaling challenges. In this work, we introduce a novel…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

In this work, we introduce Vision-Language Generative Pre-trained Transformer (VL-GPT), a transformer model proficient at concurrently perceiving and generating visual and linguistic data. VL-GPT achieves a unified pre-training approach for…

Future 3D semantic occupancy forecasting and motion planning are central to autonomous driving, as they require models to reason about how surrounding scenes evolve and how the ego vehicle should act. Existing occupancy world models…

Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developing an extensible and efficient representation that visualizes…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

End-to-end autonomous driving systems, predominantly trained through imitation learning, have demonstrated considerable effectiveness in leveraging large-scale expert driving data. Despite their success in open-loop evaluations, these…

Generating realistic and diverse trajectories is a critical challenge in autonomous driving simulation. While Large Language Models (LLMs) show promise, existing methods often rely on structured data like vectorized maps, which fail to…

Sampling-based motion planning is an effective tool to compute safe trajectories for automated vehicles in complex environments. However, a fast convergence to the optimal solution can only be ensured with the use of problem-specific…

We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system…

Generative Adversarial Networks (GANs) have demonstrated remarkable advancements in generative modeling; however, their training is often resource-intensive, requiring extensive computational time and hundreds of thousands of epochs. This…

Generalization performance of trained computer vision systems that use computer graphics (CG) generated data is not yet effective due to the concept of 'domain-shift' between virtual and real data. Although simulated data augmented with a…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…