相关论文: RLPP: A Residual Method for Zero-Shot Real-World A…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

The recent offline reinforcement learning (RL) studies have achieved much progress to make RL usable in real-world systems by learning policies from pre-collected datasets without environment interaction. Unfortunately, existing offline RL…

Zero-shot reinforcement learning (RL) has emerged as a setting for developing general agents, capable of solving downstream tasks without additional training or planning at test-time. While conventional RL optimizes policies for fixed…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints.…

Despite the availability of international prize-money competitions, scaled vehicles, and simulation environments, research on autonomous racing and the control of sports cars operating close to the limit of handling has been limited by the…

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…

With the rising popularity of autonomous navigation research, Formula Student (FS) events are introducing a Driverless Vehicle (DV) category to their event list. This paper presents the initial investigation into utilising Deep…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

The growing disparity between the exponential scaling of computational resources and the finite growth of high-quality text data now constrains conventional scaling approaches for large language models (LLMs). To address this challenge, we…

The integration of Large Language Models (LLMs) into autonomous driving systems demonstrates strong common sense and reasoning abilities, effectively addressing the pitfalls of purely data-driven methods. Current LLM-based agents require…

The emergence of reinforcement learning (RL) methods in traffic signal control tasks has achieved better performance than conventional rule-based approaches. Most RL approaches require the observation of the environment for the agent to…

In the pursuit of robust autonomous driving systems, models trained on real-world datasets often struggle to adapt to new environments, particularly when confronted with corner cases such as extreme weather conditions. Collecting these…

Map-based methods for autonomous racing estimate the vehicle's location, which is used to follow a high-level plan. While map-based optimisation methods demonstrate high-performance results, they are limited by requiring a map of the…

Coverage path planning (CPP) is the problem of finding a path that covers the entire free space of a confined area, with applications ranging from robotic lawn mowing to search-and-rescue. While for known environments, offline methods can…

Pretrained imitation policies have become a strong foundation for robot manipulation, but they often require online improvement to overcome execution errors, limited dataset coverage, and deployment mismatch. A central question is therefore…

Reinforcement Learning (RL) is a promising approach for achieving autonomous driving due to robust decision-making capabilities. RL learns a driving policy through trial and error in traffic scenarios, guided by a reward function that…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Accurate tire modeling is crucial for optimizing autonomous racing vehicles, as state-of-the-art (SotA) model-based techniques rely on precise knowledge of the vehicle's parameters. Yet, system identification in dynamic racing conditions is…

In Formula One, teams compete to develop their cars and achieve the highest possible finishing position in each race. During a race, however, teams are unable to alter the car, so they must improve their cars' finishing positions via race…