相关论文: Scene-Adaptive Motion Planning with Explicit Mixtu…

Mixture-of-Experts (MoE) models embody the divide-and-conquer concept and are a promising approach for increasing model capacity, demonstrating excellent scalability across multiple domains. In this paper, we integrate the MoE structure…

Multi-modal 3D understanding is a fundamental task in computer vision. Previous multi-modal fusion methods typically employ a single, dense fusion network, struggling to handle the significant heterogeneity and complexity across modalities,…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

Recent advances in motion planning for autonomous driving have led to models capable of generating high-quality trajectories. However, most existing planners tend to fix their policy after supervised training, leading to consistent but…

Mixture-of-Experts (MoE) models scale large language models efficiently by sparsely activating experts, but once an expert is selected, it is executed fully. Hence, the trade-off between accuracy and computation in an MoE model typically…

The advent of Large Language Models (LLMs) has ushered in a new era of artificial intelligence, with the potential to transform various sectors through automation and insightful analysis. The Mixture of Experts (MoE) architecture has been…

In this paper, we present an Efficient Planning System for automated vehicles In highLy interactive envirONments (EPSILON). EPSILON is an efficient interaction-aware planning system for automated driving, and is extensively validated in…

While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…

Modern applications increasingly involve many heterogeneous input streams, such as clinical sensors, wearable device data, imaging, and text, each with distinct measurement models, sampling rates, and noise characteristics. We define this…

Mixture-of-Experts (MoE) models have shown remarkable capability in instruction tuning, especially when the number of tasks scales. However, previous methods simply merge all training tasks (e.g. creative writing, coding, and mathematics)…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

Navigating mobile robots in social environments remains a challenging task due to the intricacies of human-robot interactions. Most of the motion planners designed for crowded and dynamic environments focus on choosing the best velocity to…

Mixture of Experts (MoEs) have become a central component of many state-of-the-art open-source and proprietary large language models. Despite their widespread adoption, it remains unclear how close existing MoE architectures are to optimal…

Mixture-of-Experts (MoE) has emerged as a powerful paradigm for scaling model capacity while preserving computational efficiency. Despite its notable success in large language models (LLMs), existing attempts to apply MoE to Diffusion…

The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…

Recent advances in closed-loop planning benchmarks have significantly improved the evaluation of autonomous vehicles. However, existing benchmarks still rely on rule-based reactive agents such as the Intelligent Driver Model (IDM), which…

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,…

We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for example, the uncertain predictions of future trajectories of…

This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…