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

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

Model-based reinforcement learning (MBRL) allows solving complex tasks in a sample-efficient manner. However, no information is reused between the tasks. In this work, we propose a meta-learned addressing model called RAMa that provides…

Accurately simulating diverse behaviors of heterogeneous agents in various scenarios is fundamental to autonomous driving simulation. This task is challenging due to the multi-modality of behavior distribution, the high-dimensionality of…

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…

We provide a sober look at the application of Multimodal Large Language Models (MLLMs) in autonomous driving, challenging common assumptions about their ability to interpret dynamic driving scenarios. Despite advances in models like GPT-4o,…

In this paper, we propose a novel personalized decision support system that combines Theory of Mind (ToM) modeling and explainable Reinforcement Learning (XRL) to provide effective and interpretable interventions. Our method leverages DRL…

Safe reinforcement learning (SafeRL) is a prominent paradigm for autonomous driving, where agents are required to optimize performance under strict safety requirements. This dual objective creates a fundamental tension, as overly…

Humans leverage rich internal models of the world to reason about the future, imagine counterfactuals, and adapt flexibly to new situations. In Reinforcement Learning (RL), world models aim to capture how the environment evolves in response…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…

How can we reliably simulate future driving scenarios under a wide range of ego driving behaviors? Recent driving world models, developed exclusively on real-world driving data composed mainly of safe expert trajectories, struggle to follow…

Modelling pedestrian-driver interactions is critical for understanding human road user behaviour and developing safe autonomous vehicle systems. Existing approaches often rely on rule-based logic, game-theoretic models, or 'black-box'…

Model-based reinforcement learning (MBRL) aims to learn a dynamic model to reduce the number of interactions with real-world environments. However, due to estimation error, rollouts in the learned model, especially those of long horizons,…

We present the Multi-Agent Transformer World Model (MATWM), a novel transformer-based world model designed for multi-agent reinforcement learning in both vector- and image-based environments. MATWM combines a decentralized imagination…

In light of growing attention of intelligent vehicle systems, we propose developing a driver model that uses a hybrid system formulation to capture the intent of the driver. This model hopes to capture human driving behavior in a way that…

Object-centric world models (OCWM) aim to decompose visual scenes into object-level representations, providing structured abstractions that could improve compositional generalization and data efficiency in reinforcement learning. We…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision-language models (VLMs) for planning, yet existing…

For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in…

Deep Reinforcement Learning (DRL) holds significant promise for achieving human-like Autonomous Vehicle (AV) capabilities, but suffers from low sample efficiency and challenges in reward design. Model-Based Reinforcement Learning (MBRL)…