相关论文: CARIL: Confidence-Aware Regression in Imitation Le…

In this paper, we present an adherence-aware reinforcement learning (RL) approach aimed at seeking optimal lane-changing recommendations within a semi-autonomous driving environment to enhance a single vehicle's travel efficiency. The…

In automated driving, predicting trajectories of surrounding vehicles supports reasoning about scene dynamics and enables safe planning for the ego vehicle. However, existing models handle predictions as an instantaneous task of forecasting…

Autonomous driving has attracted great attention from both academics and industries. To realise autonomous driving, Deep Imitation Learning (DIL) is treated as one of the most promising solutions, because it improves autonomous driving…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

A significant part of contemporary research in autonomous vehicles is dedicated to the development of safety critical systems where state-of-the-art artificial intelligence (AI) algorithms, like computer vision (CV), can play a major role.…

Reliable confidence estimates are important for safely deploying vision-based controllers in autonomous racing, where safety predictions must be derived from camera images, yet modern predictors become dangerously overconfident under…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

End-to-end learners for autonomous driving are deep neural networks that predict the instantaneous steering angle directly from images of the ahead-lying street. These learners must provide reliable uncertainty estimates for their…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

Randomized Controlled Trials (RCTs) represent the gold standard for causal inference yet remain a scarce resource. While large-scale observational data is often available, it is utilized only for retrospective fusion, and remains discarded…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…

Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, IL is sensitive to compounding errors induced by distribution…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Autonomous driving involves complex decision-making in highly interactive environments, requiring thoughtful negotiation with other traffic participants. While reinforcement learning provides a way to learn such interaction behavior,…

Continual Learning (CL) focuses on maximizing the predictive performance of a model across a non-stationary stream of data. Unfortunately, CL models tend to forget previous knowledge, thus often underperforming when compared with an offline…

The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle speed to maintain a safe distance between the vehicle and the lead (ahead) vehicle. The controller's decision to accelerate or decelerate is computed using the…

Deep neural perception and control networks are likely to be a key component of self-driving vehicles. These models need to be explainable - they should provide easy-to-interpret rationales for their behavior - so that passengers, insurance…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…