相关论文: End-to-End Visual Autonomous Parking via Control-A…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

Perception-driven approach and end-to-end system are two major vision-based frameworks for self-driving cars. However, it is difficult to introduce attention and historical information of autonomous driving process, which are the essential…

Visual recognition systems mounted on autonomous moving agents face the challenge of unconstrained data, but simultaneously have the opportunity to improve their performance by moving to acquire new views of test data. In this work, we…

In this paper, we propose an end-to-end self-driving network featuring a sparse attention module that learns to automatically attend to important regions of the input. The attention module specifically targets motion planning, whereas prior…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

End-to-end (E2E) autonomous driving models have demonstrated strong performance in open-loop evaluations but often suffer from cascading errors and poor generalization in closed-loop settings. To address this gap, we propose Model-based…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

Autonomous driving involves complex tasks such as data fusion, object and lane detection, behavior prediction, and path planning. As opposed to the modular approach which dedicates individual subsystems to tackle each of those tasks, the…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

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…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

End-to-end learning has shown great potential in autonomous parking, yet the lack of publicly available datasets limits reproducibility and benchmarking. While prior work introduced a visual-based parking model and a pipeline for data…

We propose UAD, a method for vision-based end-to-end autonomous driving (E2EAD), achieving the best open-loop evaluation performance in nuScenes, meanwhile showing robust closed-loop driving quality in CARLA. Our motivation stems from the…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

The inherent sequential modeling capabilities of autoregressive models make them a formidable baseline for end-to-end planning in autonomous driving. Nevertheless, their performance is constrained by a spatio-temporal misalignment, as the…

Autonomous driving is of great interest to industry and academia alike. The use of machine learning approaches for autonomous driving has long been studied, but mostly in the context of perception. In this paper we take a deeper look on the…

Trustworthy AI is mandatory for the broad deployment of autonomous vehicles. Although end-to-end approaches derive control commands directly from raw data, interpreting these decisions remains challenging, especially in complex urban…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

End-to-end driving systems have made rapid progress, but have so far not been applied to the challenging new CARLA Leaderboard 2.0. Further, while there is a large body of literature on end-to-end architectures and training strategies, the…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…