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

In most modern cities, traffic congestion is one of the most salient societal challenges. Past research has shown that inserting a limited number of autonomous vehicles (AVs) within the traffic flow, with driving policies learned…

Autonomous parking has become a critical application in automatic driving research and development. Parking operations often suffer from limited space and complex environments, requiring accurate perception and precise maneuvering.…

Microscopic traffic simulations are used to evaluate the impact of infrastructure modifications and evolving vehicle technologies, such as connected and automated driving. Simulated vehicles are controlled via car-following, lane-changing…

Learning-based planners are sensitive to the long-tailed distribution of driving data. Common maneuvers dominate datasets, while dangerous or rare scenarios are sparse. This imbalance can bias models toward the frequent cases and degrade…

The imitation learning of self-driving vehicle policies through behavioral cloning is often carried out in an open-loop fashion, ignoring the effect of actions to future states. Training such policies purely with Empirical Risk Minimization…

We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables…

Learning-based traffic signal control is typically optimized for average performance under a few nominal demand patterns, which can result in poor behavior under atypical traffic conditions. To address this, we develop a distributionally…

Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

Motion planning in complex scenarios is the core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to plan the future trajectory. Recent methods seek the knowledge preserved in large…

Learning diverse and high-fidelity traffic simulations from human driving demonstrations is crucial for autonomous driving evaluation. The recent next-token prediction (NTP) paradigm, widely adopted in large language models (LLMs), has been…

Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…

Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free…

The way of analyzing, designing and building of real-time projects has been changed due to the rapid growth of internet, mobile technologies and intelligent applications. Most of these applications are intelligent, tiny and distributed…