相关论文: Learning Through Retrospection: Improving Trajecto…

Vehicle trajectory prediction is crucial for advancing autonomous driving and advanced driver assistance systems (ADAS). Although deep learning-based approaches - especially those utilizing transformer-based and generative models - have…

Future trajectories of neighboring traffic agents have a significant influence on the path planning and decision-making of autonomous vehicles. While trajectory forecasting is a well-studied field, research mainly focuses on snapshot-based…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic safety and reachability guarantees. Given a dynamics dataset,…

Predicting vehicle trajectories, angle and speed is important for safe and comfortable driving. We demonstrate the best predicted angle, speed, and best performance overall winning the top three places of the ICCV 2019 Learning to Drive…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…

Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural inputs, such as lane offset and forward speed, before solving…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

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…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

In the event of sensor failure, autonomous vehicles need to safely execute emergency maneuvers while avoiding other vehicles on the road. To accomplish this, the sensor-failed vehicle must predict the future semantic behaviors of other…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

The ability to predict multiple possible future positions of the ego-vehicle given the surrounding context while also estimating their probabilities is key to safe autonomous driving. Most of the current state-of-the-art Deep Learning…

Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to covariate shift and compounding errors when deployed in real-world, closed-loop settings. Furthermore, relying on static datasets or…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

Learning-based autonomous driving systems are trained mostly on incident-free data, offering little guidance near safety-performance boundaries. Real crash reports contain precisely the contrastive evidence needed, but they are hard to use:…

Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints. Existing methods typically rely on one-stage trajectory prediction models, which condition…

Motion forecasting for agents in autonomous driving is highly challenging due to the numerous possibilities for each agent's next action and their complex interactions in space and time. In real applications, motion forecasting takes place…