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

Autonomous systems operate in environments that may change over time. An example is the control of a self-driving vehicle among pedestrians and human-controlled vehicles whose behavior may change based on factors such as traffic density,…

Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…

While deep learning models often achieve high predictive accuracy, their predictions typically do not come with any provable guarantees on risk or reliability, which are critical for deployment in high-stakes applications. The framework of…

In light of the recent humongous growth of the human population worldwide, there has also been a voluminous and uncontrolled growth of vehicles, which has consequently increased the number of road accidents to a large extent. In lieu of a…

Recently, much effort has been devoted by researchers from both academia and industry to develop novel congestion control methods. LearningCC is presented in this letter, in which the congestion control problem is solved by reinforce…

Reasoning models often outperform smaller models but at 3--5$\times$ higher cost and added latency. We present entropy-guided refinement: a lightweight, test-time loop that uses token-level uncertainty to trigger a single, targeted…

Clustering data is an unsupervised learning approach that aims to divide a set of data points into multiple groups. It is a crucial yet demanding subject in machine learning and data mining. Its successful applications span various fields.…

Autonomous vehicles must navigate safely in complex driving environments. Imitating a single expert trajectory, as in regression-based approaches, usually does not explicitly assess the safety of the predicted trajectory. Selection-based…

The goal of this paper is to provide a method, which is able to find categories of traffic scenarios automatically. The architecture consists of three main components: A microscopic traffic simulation, a clustering technique and a…

Complex interactions among agents present a significant challenge for autonomous driving in real-world scenarios. Recently, a promising approach has emerged, which formulates the interactions of agents as a level-k game framework. It…

While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de facto}$ evaluation environment, places the public in…

Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel trajectory optimization (CPTO) approach to enable safe and…

End-to-end autonomous driving frameworks enable seamless integration of perception and planning but often rely on one-shot trajectory prediction, which may lead to unstable control and vulnerability to occlusions in single-frame perception.…

Autonomous driving heavily relies on perception systems to interpret the environment for decision-making. To enhance robustness in these safety critical applications, this paper considers a Deep Ensemble of Deep Neural Network regressors…

It has been for a long time to use big data of autonomous vehicles for perception, prediction, planning, and control of driving. Naturally, it is increasingly questioned why not using this big data for risk management and actuarial…

This paper introduces Consistency Trajectory Planning (CTP), a novel offline model-based reinforcement learning method that leverages the recently proposed Consistency Trajectory Model (CTM) for efficient trajectory optimization. While…

Autonomous mobile robots (AMR) operating in the real world often need to make critical decisions that directly impact their own safety and the safety of their surroundings. Learning-based approaches for decision making have gained…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

Autonomous driving systems face the formidable challenge of navigating intricate and dynamic environments with uncertainty. This study presents a unified prediction and planning framework that concurrently models short-term aleatoric…

We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…