相关论文: Parameter Tuning Under Uncertain Road Perception i…

Humans navigate complex environments in an organized yet flexible manner, adapting to the context and implicit social rules. Understanding these naturally learned patterns of behavior is essential for applications such as autonomous…

Accurately forecasting the future movements of surrounding vehicles is essential for safe and efficient operations of autonomous driving cars. This task is difficult because a vehicle's moving trajectory is greatly determined by its…

Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…

This article describes a numerical procedure designed to tune the parameters of periodically-driven dynamical systems to a state in which they exhibit rich dynamical behavior. This is achieved by maximizing the diversity of subharmonic…

Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an…

This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…

We propose an algorithm to actively estimate the parameters of a linear dynamical system. Given complete control over the system's input, our algorithm adaptively chooses the inputs to accelerate estimation. We show a finite time bound…

Deep neural network controllers for autonomous driving have recently benefited from significant performance improvements, and have begun deployment in the real world. Prior to their widespread adoption, safety guarantees are needed on the…

Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…

Guided policy search algorithms have been proven to work with incredible accuracy for not only controlling a complicated dynamical system, but also learning optimal policies from various unseen instances. One assumes true nature of the…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Many driver assistance systems such as Adaptive Cruise Control require the identification of the closest vehicle that is in the host vehicle's path. This entails an assignment of detected vehicles to the host vehicle path or neighboring…

Controller tuning is a vital step to ensure the controller delivers its designed performance. DiffTune has been proposed as an automatic tuning method that unrolls the dynamical system and controller into a computational graph and uses…

Reliable uncertainty quantification in deep neural networks is very crucial in safety-critical applications such as automated driving for trustworthy and informed decision-making. Assessing the quality of uncertainty estimates is…

Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane…

This paper proposes an adaptable path tracking control system based on Reinforcement Learning (RL) for autonomous cars. A four-parameter controller shapes the behavior of the vehicle to navigate on lane changes and roundabouts. The tuning…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

We propose a novel parameter-efficient training (PET) method for large language models that adapts models to downstream tasks by optimizing a small subset of the existing model parameters. Unlike prior methods, this subset is not fixed in…

The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…