相关论文: Hidden Biases of End-to-End Driving Datasets

Collecting a high-quality dataset is a critical task that demands meticulous attention to detail, as overlooking certain aspects can render the entire dataset unusable. Autonomous driving challenges remain a prominent area of research,…

End-to-end driving systems have recently made rapid progress, in particular on CARLA. Independent of their major contribution, they introduce changes to minor system components. Consequently, the source of improvements is unclear. We…

End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated…

Most recent work in autonomous driving has prioritized benchmark performance and methodological innovation over in-depth analysis of model failures, biases, and shortcut learning. This has led to incremental improvements without a deep…

End-to-end driving has made significant progress in recent years, demonstrating benefits such as system simplicity and competitive driving performance under both open-loop and closed-loop settings. Nevertheless, the lack of interpretability…

Reinforcement Learning (RL) can mitigate the causal confusion and distribution shift inherent to imitation learning (IL). However, applying RL to end-to-end autonomous driving (E2E-AD) remains an open problem for its training difficulty,…

The emergence of data-driven machine learning (ML) has facilitated significant progress in many complicated tasks such as highly-automated driving. While much effort is put into improving the ML models and learning algorithms in such…

End-to-end learning has shown great potential in autonomous parking, yet the lack of publicly available datasets limits reproducibility and benchmarking. While prior work introduced a visual-based parking model and a pipeline for data…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

Current deep learning based autonomous driving approaches yield impressive results also leading to in-production deployment in certain controlled scenarios. One of the most popular and fascinating approaches relies on learning vehicle…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

Designing a driving policy for autonomous vehicles is a difficult task. Recent studies suggested an end-toend (E2E) training of a policy to predict car actuators directly from raw sensory inputs. It is appealing due to the ease of labeled…

Autonomous driving remains a highly active research domain that seeks to enable vehicles to perceive dynamic environments, predict the future trajectories of traffic agents such as vehicles, pedestrians, and cyclists and plan safe and…

This paper presents a pioneering exploration into the integration of fine-grained human supervision within the autonomous driving domain to enhance system performance. The current advances in End-to-End autonomous driving normally are…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

In this paper we present the architecture of the Kyber-E2E submission to the map track of CARLA Leaderboard 2.0 Autonomous Driving (AD) challenge 2023, which achieved first place. We employed a modular architecture for our solution consists…

Real-world autonomous driving (AD) especially urban driving involves many corner cases. The lately released AD simulator CARLA v2 adds 39 common events in the driving scene, and provide more quasi-realistic testbed compared to CARLA v1. It…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…