相关论文: Long-term Traffic Simulation with Interleaved Auto…

Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of…

Numerous solutions are proposed for the Traffic Signal Control (TSC) tasks aiming to provide efficient transportation and mitigate congestion waste. In recent, promising results have been attained by Reinforcement Learning (RL) methods…

Controllable synthetic data generation can substantially lower the annotation cost of training data. Prior works use diffusion models to generate driving images conditioned on the 3D object layout. However, those models are trained on…

With the development of artificial intelligence techniques, transportation system optimization is evolving from traditional methods relying on expert experience to simulation and learning-based decision and optimization methods.…

Evaluating and training autonomous driving systems require diverse and scalable corner cases. However, most existing scene generation methods lack controllability, accuracy, and versatility, resulting in unsatisfactory generation results.…

Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…

For efficient and safe autonomous driving, it is essential that autonomous vehicles can predict the motion of other traffic agents. While highly accurate, current motion prediction models often impose significant challenges in terms of…

We address one of the crucial aspects necessary for safe and efficient operations of autonomous vehicles, namely predicting future state of traffic actors in the autonomous vehicle's surroundings. We introduce a deep learning-based approach…

With the rapid development of autonomous vehicles, there is an increasing demand for scenario-based testing to simulate diverse driving scenarios. However, as the base of any driving scenarios, road scenarios (e.g., road topology and…

Recent advancements in computer graphics technology allow more realistic ren-dering of car driving environments. They have enabled self-driving car simulators such as DeepGTA-V and CARLA (Car Learning to Act) to generate large amounts of…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Real-world autonomous driving systems must make safe decisions in the face of rare and diverse traffic scenarios. Current state-of-the-art planners are mostly evaluated on real-world datasets like nuScenes (open-loop) or nuPlan…

Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…

Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic…

Traffic simulators are important tools in autonomous driving development. While continuous progress has been made to provide developers more options for modeling various traffic participants, tuning these models to increase their behavioral…

Understanding how people view and interact with autonomous vehicles is important to guide future directions of research. One such way of aiding understanding is through simulations of virtual environments involving people and autonomous…

Closed-loop simulation is crucial for end-to-end autonomous driving. Existing sensor simulation methods (e.g., NeRF and 3DGS) reconstruct driving scenes based on conditions that closely mirror training data distributions. However, these…

As autonomous driving systems being deployed to millions of vehicles, there is a pressing need of improving the system's scalability, safety and reducing the engineering cost. A realistic, scalable, and practical simulator of the driving…

Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…

Understanding and modeling human mobility is central to challenges in transport planning, sustainable urban design, and public health. Despite decades of effort, simulating individual mobility remains challenging because of its complex,…