相关论文: RAP: 3D Rasterization Augmented End-to-End Plannin…

Image segmentation is a powerful computer vision technique for scene understanding. However, real-world deployment is stymied by the need for high-quality, meticulously labeled datasets. Synthetic data provides high-quality labels while…

High-level autonomous driving requires motion planners capable of modeling multimodal future uncertainties while remaining robust in closed-loop interactions. Although diffusion-based planners are effective at modeling complex trajectory…

Driving simulators play a large role in developing and testing new intelligent vehicle systems. The visual fidelity of the simulation is critical for building vision-based algorithms and conducting human driver experiments. Low visual…

While supervised learning is widely used for perception modules in conventional autonomous driving solutions, scalability is hindered by the huge amount of data labeling needed. In contrast, while end-to-end architectures do not require…

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…

Driving safety and responsibility determination are indispensable pieces of the puzzle for autonomous driving. They are also deeply related to the allocation of right-of-way and the determination of accident liability. Therefore,…

Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and…

End-to-end autonomous driving policies based on Imitation Learning (IL) often struggle in closed-loop execution due to the misalignment between inadequate open-loop training objectives and real driving requirements. While Reinforcement…

Accurate localization serves as an important component in autonomous driving systems. Traditional rule-based localization involves many standalone modules, which is theoretically fragile and requires costly hyperparameter tuning, therefore…

Autonomous driving systems benefit from high-definition (HD) maps that provide critical information about road infrastructure. The online construction of HD maps offers a scalable approach to generate local maps from on-board sensors.…

Though face rotation has achieved rapid progress in recent years, the lack of high-quality paired training data remains a great hurdle for existing methods. The current generative models heavily rely on datasets with multi-view images of…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

End-to-End (E2E) planning has become a powerful paradigm for autonomous driving, yet current systems remain fundamentally uncertainty-blind. They assume perception outputs are fully reliable, even in ambiguous or poorly observed scenes,…

Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…

Learning from visual observations is a fundamental yet challenging problem in Reinforcement Learning (RL). Although algorithmic advances combined with convolutional neural networks have proved to be a recipe for success, current methods are…

The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…