相关论文: Model-Based Policy Adaptation for Closed-Loop End-…

In this paper, we propose a Risk-Averse Priced Timed Automata (PTA) Model Predictive Control (MPC) framework to increase flexibility of cyber-physical systems. To improve flexibility in these systems, our risk-averse framework solves a…

Optimal control schemes have achieved remarkable performance in numerous engineering applications. However, they typically require high computational cost, which has limited their use in real-world engineering systems with fast dynamics…

Large pre-trained speech models are widely used as the de-facto paradigm, especially in scenarios when there is a limited amount of labeled data available. However, finetuning all parameters from the self-supervised learned model can be…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

Drawing upon recent advances in language model alignment, we formulate offline Reinforcement Learning as a two-stage optimization problem: First pretraining expressive generative policies on reward-free behavior datasets, then fine-tuning…

This paper studies decision-making for goal-oriented effective communication. We consider an end-to-end status update system where a sensing agent (SA) observes a source, generates and transmits updates to an actuation agent (AA), while the…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Deep motion forecasting models have achieved great success when trained on a massive amount of data. Yet, they often perform poorly when training data is limited. To address this challenge, we propose a transfer learning approach for…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…

Although end-to-end autonomous driving (E2E-AD) technologies have made significant progress in recent years, there remains an unsatisfactory performance on closed-loop evaluation. The potential of leveraging planning in query design and…

Recent advancements in retrieval-augmented generation (RAG) have enhanced large language models in question answering by integrating external knowledge. However, challenges persist in achieving global understanding and aligning responses…

Autonomous driving is undergoing a shift from modular rule based pipelines toward end to end (E2E) learning systems. This paper examines this transition by tracing the evolution from classical sense perceive plan control architectures to…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

In this paper, we explore the interplay between Predictive Control and closed-loop optimality, spanning from Model Predictive Control to Data-Driven Predictive Control. Predictive Control in general relies on some form of prediction scheme…

Conventional end-to-end (E2E) driving models are effective at generating physically plausible trajectories, but often fail to generalize to long-tail scenarios due to the lack of essential world knowledge to understand and reason about…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

End-to-end autonomous driving has great potential in the transportation industry. However, the lack of transparency and interpretability of the automatic decision-making process hinders its industrial adoption in practice. There have been…