相关论文: Centaur: Robust End-to-End Autonomous Driving with…

Counterfactual learning to rank (CLTR) can be risky and, in various circumstances, can produce sub-optimal models that hurt performance when deployed. Safe CLTR was introduced to mitigate these risks when using inverse propensity scoring to…

Practical machine learning systems often operate in multiple sequential stages, as seen in ranking and recommendation systems, which typically include a retrieval phase followed by a ranking phase. Effectively assessing prediction…

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…

We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them…

Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…

In recent years, end-to-end autonomous driving frameworks have been shown to not only enhance perception performance but also improve planning capabilities. However, most previous end-to-end autonomous driving frameworks have focused…

There is a family of label modification approaches including self and non-self label correction (LC), and output regularisation. They are widely used for training robust deep neural networks (DNNs), but have not been mathematically and…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

The complexity of the operating environment and required technologies for highly automated driving is unprecedented. A different type of threat to safe operation besides the fault-error-failure model by Laprie et al. arises in the form of…

In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem…

Modern autonomous systems with machine learning components often use uncertainty quantification to help produce assurances about system operation. However, there is a lack of consensus in the community on what uncertainty is and how to…

Building on concepts drawn from control theory, self-adaptive software handles environmental and internal uncertainties by dynamically adjusting its architecture and parameters in response to events such as workload changes and component…

Long-term training of large language models (LLMs) requires maintaining stable exploration to prevent the model from collapsing into sub-optimal behaviors. Entropy is crucial in this context, as it controls exploration and helps avoid…

We introduce a novel validation framework to measure the true robustness of learning models for real-world applications by creating source-inclusive and source-exclusive partitions in a dataset via clustering. We develop a robustness metric…

Autonomous driving is of great interest to industry and academia alike. The use of machine learning approaches for autonomous driving has long been studied, but mostly in the context of perception. In this paper we take a deeper look on the…

A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-road at high-speed, as current approaches…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

Developing autonomous vehicles (AVs) helps improve the road safety and traffic efficiency of intelligent transportation systems (ITS). Accurately predicting the trajectories of traffic participants is essential to the decision-making and…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…