相关论文: Dynamically Local-Enhancement Planner for Large-Sc…

In this paper, the task offloading from vehicles with random velocities is optimized via a novel dynamic improvement framework. Particularly, in a vehicular network with multiple vehicles and base stations (BSs), computing tasks of vehicles…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Autonomous vehicle navigation in complex environments such as dense and fast-moving highways and merging scenarios remains an active area of research. A key limitation of RL is its reliance on well-specified reward functions, which often…

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

Diffusion models have become a popular choice for decision-making tasks in robotics, and more recently, are also being considered for solving autonomous driving tasks. However, their applications and evaluations in autonomous driving remain…

In many classification problems, we want a classifier that is robust to a range of non-semantic transformations. For example, a human can identify a dog in a picture regardless of the orientation and pose in which it appears. There is…

Safely interacting with humans is a significant challenge for autonomous driving. The performance of this interaction depends on machine learning-based modules of an autopilot, such as perception, behavior prediction, and planning. These…

The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…

Classical autonomous navigation systems can control robots in a collision-free manner, oftentimes with verifiable safety and explainability. When facing new environments, however, fine-tuning of the system parameters by an expert is…

Active Simultaneous Localization and Mapping (Active SLAM) involves the strategic planning and precise control of a robotic system's movement in order to construct a highly accurate and comprehensive representation of its surrounding…

With the growing demand for large-scale and high-quality data in edge intelligence systems, mobile robots are increasingly deployed to collect data proactively, particularly in complex environments. However, existing robot-assisted data…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

Deep Reinforcement Learning (DRL) has demonstrated potential in addressing robotic local planning problems, yet its efficacy remains constrained in highly unstructured and dynamic environments. To address these challenges, this study…

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes.…

Virtual development and prototyping has already become an integral part in the field of automated driving systems (ADS). There are plenty of software tools that are used for the virtual development of ADS. One such tool is CarMaker from IPG…

Maritime autonomous transportation has played a crucial role in the globalization of the world economy. Deep Reinforcement Learning (DRL) has been applied to automatic path planning to simulate vessel collision avoidance situations in open…

In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…