相关论文: Robust Planning for Autonomous Vehicles with Diffu…

Recent work has shown that the introduction of autonomous vehicles (AVs) in traffic could help reduce traffic jams. Deep reinforcement learning methods demonstrate good performance in complex control problems, including autonomous vehicle…

Autoregressive next-step prediction models have become the de-facto standard for building data-driven neural solvers to forecast time-dependent partial differential equations (PDEs). Denoise training that is closely related to diffusion…

Diffusion models have shown promising results in speech enhancement, using a task-adapted diffusion process for the conditional generation of clean speech given a noisy mixture. However, at test time, the neural network used for score…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…

Most large language models are autoregressive: they generate tokens one at a time. Discrete diffusion language models can generate multiple tokens in parallel, but sampling from them requires a denoising order: a strategy for deciding which…

We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

Connected automated driving has the potential to significantly improve urban traffic efficiency, e.g., by alleviating issues due to occlusion. Cooperative behavior planning can be employed to jointly optimize the motion of multiple…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

This study underscores the vital importance of intelligent driving functions in enhancing road safety and driving comfort. Central to our research is the challenge of obtaining sufficient test data for evaluating these functions, especially…

Autoregressive models for text sometimes generate repetitive and low-quality output because errors accumulate during the steps of generation. This issue is often attributed to exposure bias - the difference between how a model is trained,…

Autonomous vehicles are in an intensive research and development stage, and the organizations developing these systems are targeting to deploy them on public roads in a very near future. One of the expectations from fully-automated vehicles…

Model-based reinforcement learning is an appealing framework for creating agents that learn, plan, and act in sequential environments. Model-based algorithms typically involve learning a transition model that takes a state and an action and…

Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…

Autonomous vehicles must be comprehensively evaluated before deployed in cities and highways. However, most existing evaluation approaches for autonomous vehicles are static and lack adaptability, so they are usually inefficient in…

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…

Real-time traffic prediction models play a pivotal role in smart mobility systems and have been widely used in route guidance, emerging mobility services, and advanced traffic management systems. With the availability of massive traffic…

Deep-learning-based techniques have been widely adopted for autonomous driving software stacks for mass production in recent years, focusing primarily on perception modules, with some work extending this method to prediction modules.…

We present a new application of model checking which achieves real-time multi-step planning and obstacle avoidance on a real autonomous robot. We have developed a small, purpose-built model checking algorithm which generates plans in situ…