相关论文: When Planners Meet Reality: How Learned, Reactive …

Recent advances in closed-loop planning benchmarks have significantly improved the evaluation of autonomous vehicles. However, existing benchmarks still rely on rule-based reactive agents such as the Intelligent Driver Model (IDM), which…

Real-world autonomous driving systems must make safe decisions in the face of rare and diverse traffic scenarios. Current state-of-the-art planners are mostly evaluated on real-world datasets like nuScenes (open-loop) or nuPlan…

Motion planning is crucial for safe navigation in complex urban environments. Historically, motion planners (MPs) have been evaluated with procedurally-generated simulators like CARLA. However, such synthetic benchmarks do not capture…

Interactive traffic simulation is crucial to autonomous driving systems by enabling testing for planners in a more scalable and safe way compared to real-world road testing. Existing approaches learn an agent model from large-scale driving…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

Simulation plays a crucial role in the rapid development and safe deployment of autonomous vehicles. Realistic traffic agent models are indispensable for bridging the gap between simulation and the real world. Many existing approaches for…

A major challenge in autonomous vehicle research is modeling agent behaviors, which has critical applications including constructing realistic and reliable simulations for off-board evaluation and forecasting traffic agents motion for…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

Reactive and safe agent modelings are important for nowadays traffic simulator designs and safe planning applications. In this work, we proposed a reactive agent model which can ensure safety without comprising the original purposes, by…

Machine Learning (ML) has replaced traditional handcrafted methods for perception and prediction in autonomous vehicles. Yet for the equally important planning task, the adoption of ML-based techniques is slow. We present nuPlan, the…

Many intelligent systems currently interact with others using at least one of fixed communication inputs or preset responses, resulting in rigid interaction experiences and extensive efforts developing a variety of scenarios for the system.…

In recent years, imitation-based driving planners have reported considerable success. However, due to the absence of a standardized benchmark, the effectiveness of various designs remains unclear. The newly released nuPlan addresses this…

Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…

Autonomous vehicles need to abide by the same rules that humans follow. Some of these traffic rules may depend on multiple agents or time. Especially in situations with traffic participants that interact densely, the interactions with other…

Motion planning in complex scenarios is a core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to generate trajectories, while recent approaches leverage large language models (LLMs)…

In recent years, the integration of prediction and planning through neural networks has received substantial attention. Despite extensive studies on it, there is a noticeable gap in understanding the operation of such models within a…

Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to covariate shift and compounding errors when deployed in real-world, closed-loop settings. Furthermore, relying on static datasets or…

Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant…

In this work, we propose the world's first closed-loop ML-based planning benchmark for autonomous driving. While there is a growing body of ML-based motion planners, the lack of established datasets and metrics has limited the progress in…

Simulation has the potential to massively scale evaluation of self-driving systems enabling rapid development as well as safe deployment. To close the gap between simulation and the real world, we need to simulate realistic multi-agent…