相关论文: Learning-based Autonomous Oversteer Control and Co…

Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is…

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…

Human trajectory forecasting is crucial in applications such as autonomous driving, robotics and surveillance. Accurate forecasting requires models to consider various factors, including social interactions, multi-modal predictions,…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

When autonomous vehicles are deployed on public roads, they will encounter countless and diverse driving situations. Many manually designed driving policies are difficult to scale to the real world. Fortunately, reinforcement learning has…

Autonomous vehicles have the potential to lower the accident rate when compared to human driving. Moreover, it is the driving force of the automated vehicles' rapid development over the last few years. In the higher Society of Automotive…

Autonomous driving and its widespread adoption have long held tremendous promise. Nevertheless, without a trustworthy and thorough testing procedure, not only does the industry struggle to mass-produce autonomous vehicles (AV), but neither…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Reinforcement learning (RL) is a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the…

Autonomous vehicles in interactive traffic environments are often limited by the scarcity of safety-critical tail events in static datasets, which biases learned policies toward average-case behaviors and reduces robustness. Existing…

Autonomous driving vehicles have been of keen interest ever since automation of various tasks started. Humans are prone to exhaustion and have a slow response time on the road, and on top of that driving is already quite a dangerous task…

Recent reinforcement learning (RL) algorithms have demonstrated impressive results in simulated driving environments. However, autonomous vehicles trained in simulation often struggle to work well in the real world due to the fidelity gap…

With advances in imitation learning (IL) and large-scale driving datasets, end-to-end autonomous driving (E2E-AD) has made great progress recently. Currently, IL-based methods have become a mainstream paradigm: models rely on standard…

Autonomous driving systems (ADSs) are capable of sensing the environment and making driving decisions autonomously. These systems are safety-critical, and testing them is one of the important approaches to ensure their safety. However, due…

Ensuring both safety and efficiency in decision-making for autonomous driving systems remains a fundamental challenge. Traditional Deep Reinforcement Learning (DRL) suffers from unsafe random exploration and slow convergence, while Large…

Reinforcement learning has demonstrated significant potential in the field of autonomous driving. However, it suffers from defects such as training instability and unsafe action outputs when faced with autonomous racing environments…

This paper proposes a novel approach by integrating sensor fusion with deep reinforcement learning, specifically the Soft Actor-Critic (SAC) algorithm, to develop an optimal control policy for self-driving cars. Our system employs a…

Autonomous race driving poses a complex control challenge as vehicles must be operated at the edge of their handling limits to reduce lap times while respecting physical and safety constraints. This paper presents a novel reinforcement…

Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS),…

Over the last decade, there has been increasing interest in autonomous driving systems. Reinforcement Learning (RL) shows great promise for training autonomous driving controllers, being able to directly optimize a combination of criteria…