相关论文: RoboTron-Sim: Improving Real-World Driving via Sim…

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…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

As autonomous driving technology progresses, the need for precise trajectory prediction models becomes paramount. This paper introduces an innovative model that infuses cognitive insights into trajectory prediction, focusing on perceived…

End-to-end autonomous driving models increasingly benefit from large vision--language models for semantic understanding, yet ensuring safe and accurate operation under long-tail conditions remains challenging. These challenges are…

Evaluating autonomous vehicle stacks (AVs) in simulation typically involves replaying driving logs from real-world recorded traffic. However, agents replayed from offline data are not reactive and hard to intuitively control. Existing…

In the past few decades, autonomous driving algorithms have made significant progress in perception, planning, and control. However, evaluating individual components does not fully reflect the performance of entire systems, highlighting the…

Detecting a diverse range of objects under various driving scenarios is essential for the effectiveness of autonomous driving systems. However, the real-world data collected often lacks the necessary diversity presenting a long-tail…

Traffic simulation, complementing real-world data with a long-tail distribution, allows for effective evaluation and enhancement of the ability of autonomous vehicles to handle accident-prone scenarios. Simulating such safety-critical…

Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We…

Microscopic traffic simulation has become an important tool for autonomous driving training and testing. Although recent data-driven approaches advance realistic behavior generation, their learning still relies primarily on a single…

Realistic highway simulation is critical for scalable safety evaluation of autonomous vehicles, particularly for interactions that are too rare to study from logged data alone. Yet highway traffic generation remains challenging because it…

Contemporary research in autonomous driving has demonstrated tremendous potential in emulating the traits of human driving. However, they primarily cater to areas with well built road infrastructure and appropriate traffic management…

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.…

We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…

Supervised open-loop training has been widely adopted for training traffic simulation models; however, it fails to capture the inherently dynamic, multi-agent interactions common in complex driving scenarios. We introduce RLFTSim, a…

We tackle the problem of producing realistic simulations of LiDAR point clouds, the sensor of preference for most self-driving vehicles. We argue that, by leveraging real data, we can simulate the complex world more realistically compared…

Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…

Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…

Recent advancements in driving world models enable controllable generation of high-quality RGB videos or multimodal videos. Existing methods primarily focus on metrics related to generation quality and controllability. However, they often…

This work introduces interactive traffic scenarios in the CARLA simulator, which are based on real-world traffic. We concentrate on tactical tasks lasting several seconds, which are especially challenging for current control methods. The…