相关论文: Dream to Drive with Predictive Individual World Mo…

Preference-based Reinforcement Learning (PbRL) provides a way to learn high-performance policies in environments where the reward signal is hard to specify, avoiding heuristic and time-consuming reward design. However, PbRL can suffer from…

World model based reinforcement learning (RL) has emerged as a promising approach for autonomous driving, which learns a latent dynamics model and uses it to train a planning policy. To speed up the learning process, the pretrain-finetune…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

Reinforcement Learning (RL) has achieved impressive results in robotics, yet high-performing pipelines remain highly task-specific, with little reuse of prior data. Offline Model-based RL (MBRL) offers greater data efficiency by training…

Traditional model-based reinforcement learning (RL) methods generate forward rollout traces using the learnt dynamics model to reduce interactions with the real environment. The recent model-based RL method considers the way to learn a…

Model-based reinforcement learning (MBRL) has achieved remarkable success in robotics due to its high sample efficiency and planning capability. However, extending MBRL to physical multi-robot cooperation remains challenging due to the…

An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…

End-to-end autonomous driving systems increasingly rely on vision-centric world models to understand and predict their environment. However, a common ineffectiveness in these models is the full reconstruction of future scenes, which expends…

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by…

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway…

This paper challenges a prevailing epistemological assumption in End-to-End Autonomous Driving: that high-performance planning necessitates high-fidelity world reconstruction. Inspired by cognitive science, we propose the Mental Bayesian…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

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…

Traditional reinforcement learning (RL)-based learning approaches for wireless networks rely on expensive trial-and-error mechanisms and real-time feedback based on extensive environment interactions, which leads to low data efficiency and…

Offline reinforcement learning (RL) offers a powerful paradigm for data-driven control. Compared to model-free approaches, offline model-based RL (MBRL) explicitly learns a world model from a static dataset and uses it as a surrogate…

The Multi-modal Large Language Models (MLLMs) with extensive world knowledge have revitalized autonomous driving, particularly in reasoning tasks within perceivable regions. However, when faced with perception-limited areas (dynamic or…

The Driving World Model (DWM), which focuses on predicting scene evolution during the driving process, has emerged as a promising paradigm in the pursuit of autonomous driving (AD). DWMs enable AD systems to better perceive, understand, and…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…