相关论文: Map-World: Masked Action planning and Path-Integra…

The interactive decision-making in multi-agent autonomous racing offers insights valuable beyond the domain of self-driving cars. Mapless online path planning is particularly of practical appeal but poses a challenge for safely overtaking…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for building embodied agents that ground perception and language into action. However, most existing approaches rely on direct action prediction, lacking the ability…

Accurate and interpretable motion planning is essential for autonomous vehicles (AVs) navigating complex and uncertain environments. While recent end-to-end occupancy prediction methods have improved environmental understanding, they…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

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 at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected…

Autonomous vehicles (AVs) need to reason about the multimodal behavior of neighboring agents while planning their own motion. Many existing trajectory planners seek a single trajectory that performs well under \emph{all} plausible futures…

Data scaling plays a pivotal role in the pursuit of general intelligence. However, the prevailing perception-planning paradigm in autonomous driving relies heavily on expensive manual annotations to supervise trajectory planning, which…

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…

End-to-End autonomous driving (E2E-AD) has emerged as a new paradigm, where trajectory planning plays a crucial role. Existing studies mainly follow two directions: trajectory generation oriented, which focuses on producing high-quality…

One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

This paper presents a novel self-supervised path-planning method for UAV-aided networks. First, we employed an optimizer to solve training examples offline and then used the resulting solutions as demonstrations from which the UAV can learn…

In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…

World models enable model-based planning through learned latent dynamics, but imagined rollouts become unstable as the planning horizon grows or the dynamics distribution shifts. We argue that this instability reflects two missing…

World Action Models (WAMs) have emerged as a promising paradigm for robot control by modeling physical dynamics. Current WAMs generally follow two paradigms: the "Imagine-then-Execute" approach, which uses video prediction to infer actions…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…