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

Deep reinforcement Learning for end-to-end driving is limited by the need of complex reward engineering. Sparse rewards can circumvent this challenge but suffers from long training time and leads to sub-optimal policy. In this work, we…

Autonomous driving has attracted great interest due to its potential capability in full-unsupervised driving. Model-based and learning-based methods are widely used in autonomous driving. Model-based methods rely on pre-defined models of…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

Recently, there has been an increasing interest in end-to-end speech recognition that directly transcribes speech to text without any predefined alignments. One approach is the attention-based encoder-decoder framework that learns a mapping…

Despite the increasing research interest in end-to-end learning systems for speech emotion recognition, conventional systems either suffer from the overfitting due in part to the limited training data, or do not explicitly consider the…

One way to approach end-to-end autonomous driving is to learn a policy function that maps from a sensory input, such as an image frame from a front-facing camera, to a driving action, by imitating an expert driver, or a reference policy.…

Conventional end-to-end (E2E) driving models are effective at generating physically plausible trajectories, but often fail to generalize to long-tail scenarios due to the lack of essential world knowledge to understand and reason about…

In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We…

On end-to-end driving, human driving demonstrations are used to train perception-based driving models by imitation learning. This process is supervised on vehicle signals (e.g., steering angle, acceleration) but does not require extra…

End-to-end autonomous driving resides not in the integration of perception and planning, but rather in the dynamic multi-agent game within a unified representation space. Most existing end-to-end models treat all agents equally, hindering…

Audio-visual embodied navigation, as a hot research topic, aims training a robot to reach an audio target using egocentric visual (from the sensors mounted on the robot) and audio (emitted from the target) input. The audio-visual…

This study proposes an end-to-end algorithm for policy learning in causal inference. We observe data consisting of covariates, treatment assignments, and outcomes, where only the outcome corresponding to the assigned treatment is observed.…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

Autonomous parking plays a vital role in intelligent vehicle systems, particularly in constrained urban environments where high-precision control is required. While traditional rule-based parking systems struggle with environmental…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Autonomous vehicle software is typically structured as a modular pipeline of individual components (e.g., perception, prediction, and planning) to help separate concerns into interpretable sub-tasks. Even when end-to-end training is…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…