相关论文: Generalized Trajectory Scoring for End-to-end Mult…

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…

Geometric information in the normalized digital surface models (nDSM) is highly correlated with the semantic class of the land cover. Exploiting two modalities (RGB and nDSM (height)) jointly has great potential to improve the segmentation…

Generalization is a central problem in Machine Learning. Most prediction methods require careful calibration of hyperparameters carried out on a hold-out \textit{validation} dataset to achieve generalization. The main goal of this paper is…

Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…

Large language models (LLMs) have recently demonstrated great success in generating and understanding natural language. While they have also shown potential beyond the domain of natural language, it remains an open question as to what…

Most existing Multi-Object Tracking (MOT) approaches follow the Tracking-by-Detection paradigm and the data association framework where objects are firstly detected and then associated. Although deep-learning based method can noticeably…

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into…

Multi-vehicle trajectory planning (MVTP) is one of the key challenges in multi-robot systems (MRSs) and has broad applications across various fields. This paper presents ESCoT, an enhanced step-based coordinate trajectory planning method…

Accurate trajectory prediction for buses is crucial in intelligent transportation systems, particularly within urban environments. In developing regions where access to multimodal data is limited, relying solely on onboard GPS data remains…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

End-to-end autonomous driving has emerged as a compelling alternative to traditional modular pipelines by directly mapping raw sensor data to driving actions. While recent approaches achieve strong performance on single-domain datasets,…

Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…

Multimodal Large Language Models (MLLMs) struggle with complex geometric reasoning, largely because "black box" outcome-based supervision fails to distinguish between lucky guesses and rigorous deduction. To address this, we introduce a…

End-to-end autonomous driving planners are commonly trained by imitating a single logged trajectory, yet evaluated by rule-based planning metrics that measure safety, feasibility, progress, and comfort. This creates a training--evaluation…

Conventional end-to-end autonomous driving methods often rely on explicit global scene representations, which typically consist of 3D object detection, online mapping, and motion prediction. In contrast, human drivers selectively attend to…

Recent studies have explored leveraging the world knowledge and cognitive capabilities of Vision-Language Models (VLMs) to address the long-tail problem in end-to-end autonomous driving. However, existing methods typically formulate…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…

Deep generative replay has emerged as a promising approach for continual learning in decision-making tasks. This approach addresses the problem of catastrophic forgetting by leveraging the generation of trajectories from previously…

This paper introduces a novel multi-object tracking (MOT) method, dubbed GenTrack, whose main contributions include: a hybrid tracking approach employing both stochastic and deterministic manners to robustly handle unknown and time-varying…

Vision-Language Models(VLMs) have demonstrated significant potential for end-to-end autonomous driving, yet a substantial gap remains between their current capabilities and the reliability necessary for real-world deployment. A critical…