相关论文: Autoregressive End-to-End Planning with Time-Invar…

Spatiotemporal intelligence in autonomous driving (AD) requires an agent to integrate multi-view observations into a coherent scene representation, maintain object continuity across viewpoints and time, and reason about spatial relations,…

Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet…

Robust autonomous navigation for Autonomous Aerial Vehicles (AAVs) in complex environments is a critical capability. However, modern end-to-end navigation faces a key challenge: the high-frequency control loop needed for agile flight…

Neural implicit mapping has emerged as a powerful paradigm for robotic navigation and scene understanding. However, real-world robotic deployment requires continual adaptation to changing environments under strict memory and computation…

Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a novel motion prediction system for autonomous driving. Our…

End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…

Fitting nonlinear dynamical models to sparse and noisy observations is fundamentally challenging. Identifying dynamics requires data assimilation (DA) to estimate system states, but DA requires an accurate dynamical model. To break this…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

Vision-Language-Action (VLA) models are emerging as highly effective planning models for end-to-end autonomous driving systems. However, current works mostly rely on imitation learning from sparse trajectory annotations and under-utilize…

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task…

We consider planning problems, that often arise in autonomous driving applications, in which an agent should decide on immediate actions so as to optimize a long term objective. For example, when a car tries to merge in a roundabout it…

How can we benefit from large models without sacrificing inference speed, a common dilemma in self-driving systems? A prevalent solution is a dual-system architecture, employing a small model for rapid, reactive decisions and a larger model…

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…

Latent World Models enhance scene representation through temporal self-supervised learning, presenting a perception annotation-free paradigm for end-to-end autonomous driving. However, the reconstruction-oriented representation learning…

Mainstream visuomotor policies predominantly rely on generative models for holistic action prediction, while current autoregressive policies, predicting the next token or chunk, have shown suboptimal results. This motivates a search for…

End-to-end autonomous driving models are typically trained on multi-city datasets using supervised ImageNet-pretrained backbones, yet their ability to generalize to unseen cities remains largely unexamined. When training and evaluation data…

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…

A key objective of embodied intelligence is enabling agents to perform long-horizon tasks in dynamic environments while maintaining robust decision-making and adaptability. To achieve this goal, we propose the Spatio-Temporal Memory Agent…

Our goal is to enable large language models (LLMs) to balance multiple human preference dimensions; such as helpfulness, safety, and verbosity, through principled and controllable alignment. Existing preference optimization methods,…

Proper optimization of deep neural networks is an open research question since an optimal procedure to change the learning rate throughout training is still unknown. Manually defining a learning rate schedule involves troublesome…