相关论文: UniPlanner: A Unified Motion Planning Framework fo…

To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…

This study develops FusionTransNet, a framework designed for Origin-Destination (OD) flow predictions within smart and multimodal urban transportation systems. Urban transportation complexity arises from the spatiotemporal interactions…

Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-modality and behavioral uncertainties are engaged. Existing…

Building a multi-modality multi-task neural network toward accurate and robust performance is a de-facto standard in perception task of autonomous driving. However, leveraging such data from multiple sensors to jointly optimize the…

Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…

As autonomous driving systems being deployed to millions of vehicles, there is a pressing need of improving the system's scalability, safety and reducing the engineering cost. A realistic, scalable, and practical simulator of the driving…

High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

Automated vehicles are deemed to be the key element for the intelligent transportation system in the future. Many studies have been made to improve the Automated vehicles' ability of environment recognition and vehicle control, while the…

Unified multimodal models (UMMs) aim to integrate understanding and generation within a single architecture. However, it remains underexplored how to effectively coordinate these two capabilities for more effective and efficient reasoning.…

This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…

Reliably predicting the motion of contestant vehicles surrounding an autonomous racecar is crucial for effective and performant planning. Although highly expressive, deep neural networks are black-box models, making their usage challenging…

We investigate and analyze principles of typical motion planning algorithms. These include traditional planning algorithms, supervised learning, optimal value reinforcement learning, policy gradient reinforcement learning. Traditional…

Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this introduces challenges in conditioning predictions on navigation…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…

Trajectory prediction and behavioral decision-making are two important tasks for autonomous vehicles that require good understanding of the environmental context; behavioral decisions are better made by referring to the outputs of…

Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…

Autonomous vehicles must navigate safely in complex driving environments. Imitating a single expert trajectory, as in regression-based approaches, usually does not explicitly assess the safety of the predicted trajectory. Selection-based…

This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…