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

Real-world autonomous driving, particularly in urban environments with numerous corner cases, requires rigorous testing to ensure product safety and robustness. However, few studies have explored integrating adversarial scenario generation…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

Many established vision perception systems for autonomous driving scenarios ignore the influence of light conditions, one of the key elements for driving safety. To address this problem, we present HawkDrive, a novel perception system with…

The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…

Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from…

As self-driving systems become better, simulating scenarios where the autonomy stack may fail becomes more important. Traditionally, those scenarios are generated for a few scenes with respect to the planning module that takes ground-truth…

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…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

High-quality structured data with rich annotations are critical components in intelligent vehicle systems dealing with road scenes. However, data curation and annotation require intensive investments and yield low-diversity scenarios. The…

As semi-automated vehicles (SAVs) become more common, ensuring effective human-vehicle interaction during control handovers remains a critical safety challenge. Existing studies often rely on single-session simulator experiments or…

Reinforcement learning (RL) is a promising solution for autonomous vehicles to deal with complex and uncertain traffic environments. The RL training process is however expensive, unsafe, and time consuming. Algorithms are often developed…

With growing complexity and criticality of automated driving functions in road traffic and their operational design domains (ODD), there is increasing demand for covering significant proportions of development, validation, and verification…

This paper describes a physics-based end-to-end software simulation for image systems. We use the software to explore sensors designed to enhance performance in high dynamic range (HDR) environments, such as driving through daytime tunnels…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols.…

Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…

In the realm of autonomous driving, robust perception under out-of-distribution conditions is paramount for the safe deployment of vehicles. Challenges such as adverse weather, sensor malfunctions, and environmental unpredictability can…

Simulation-based data synthesis has emerged as a powerful paradigm for advancing real-world robotic manipulation. Yet existing datasets remain insufficient for robust bimanual manipulation due to (1) the lack of scalable task generation…

Existing autonomous driving systems rely on onboard sensors (cameras, LiDAR, IMU, etc) for environmental perception. However, this paradigm is limited by the drive-time perception horizon and often fails under limited view scope, occlusion…

Nowadays, autonomous cars can drive smoothly in ordinary cases, and it is widely recognized that realistic sensor simulation will play a critical role in solving remaining corner cases by simulating them. To this end, we propose an…