相关论文: MultiPark: Multimodal Parking Transformer with Nex…

The increasing illegal parking has become more and more serious. Nowadays the methods of detecting illegally parked vehicles are based on background segmentation. However, this method is weakly robust and sensitive to environment.…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

In recent years, autonomous parking has made significant advances, yet parking tasks still face challenges in extreme scenarios such as mechanical and dead-end parking slots, often resulting in failures. This is mainly due to traditional…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Autonomous driving in complex traffic requires reasoning under uncertainty. Common approaches rely on prediction-based planning or risk-aware control, but these are typically treated in isolation, limiting their ability to capture the…

Transformer-based multimodal large language models often exhibit in-context learning (ICL) abilities. Motivated by this phenomenon, we ask: how do transformers learn to associate information across modalities from in-context examples? We…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

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…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

Parking occupancy estimation holds significant potential in facilitating parking resource management and mitigating traffic congestion. Existing approaches employ robotic systems to detect the occupancy status of individual parking spaces…

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL…

Safe manipulation-oriented navigation for humanoid robots requires scene memory that remains reliable under locomotion-induced perceptual distortion, environmental changes, and interaction-level geometric safety constraints. Existing…

Motion planning is a critical module in autonomous driving, with the primary challenge of uncertainty caused by interactions with other participants. As most previous methods treat prediction and planning as separate tasks, it is difficult…

When applying multi-instance learning (MIL) to make predictions for bags of instances, the prediction accuracy of an instance often depends on not only the instance itself but also its context in the corresponding bag. From the viewpoint of…

Reasoning about vehicle path prediction is an essential and challenging problem for the safe operation of autonomous driving systems. There exist many research works for path prediction. However, most of them do not use lane information and…

Multi-modal learning is a fast growing area in artificial intelligence. It tries to help machines understand complex things by combining information from different sources, like images, text, and audio. By using the strengths of each…

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…

Real-time parking occupancy information is critical for a parking management system to facilitate drivers to park more efficiently. Recent advances in connected and automated vehicle technologies enable sensor-equipped cars (probe cars) to…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

The ability to accurately predict feasible multimodal future trajectories of surrounding traffic participants is crucial for behavior planning in autonomous vehicles. The Motion Transformer (MTR), a state-of-the-art motion prediction…