相关论文: SUPER-AD: Semantic Uncertainty-aware Planning for …

Autonomous driving systems face the formidable challenge of navigating intricate and dynamic environments with uncertainty. This study presents a unified prediction and planning framework that concurrently models short-term aleatoric…

End-to-end autonomous driving (E2EAD) systems, which learn to predict future trajectories directly from sensor data, are fundamentally challenged by the inherent spatio-temporal imbalance of trajectory data. This imbalance creates a…

Learning a human-like driving policy from large-scale driving demonstrations is promising, but the uncertainty and non-deterministic nature of planning make it challenging. Existing learning-based planning methods follow a deterministic…

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 gained significant attention for its potential to learn robust behavior in interactive scenarios and scale with data. Popular architectures often build on separate modules for perception and planning…

Human drivers adeptly navigate complex scenarios by utilizing rich attentional semantics, but the current autonomous systems struggle to replicate this ability, as they often lose critical semantic information when converting 2D…

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…

End-to-End Autonomous Driving (E2E-AD) systems are typically grouped by the nature of their outputs: (i) waypoint-based models that predict a future trajectory, and (ii) action-based models that directly output throttle, steer and brake.…

Successful machine learning involves a complete pipeline of data, model, and downstream applications. Instead of treating them separately, there has been a prominent increase of attention within the constrained optimization (CO) and machine…

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal…

In autonomous driving, the end-to-end (E2E) driving approach that predicts vehicle control signals directly from sensor data is rapidly gaining attention. To learn a safe E2E driving system, one needs an extensive amount of driving data and…

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task…

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer…

End-to-end autonomous driving systems promise stronger performance through unified optimization of perception, motion forecasting, and planning. However, vision-based approaches face fundamental limitations in adverse weather conditions,…

Designing a driving policy for autonomous vehicles is a difficult task. Recent studies suggested an end-toend (E2E) training of a policy to predict car actuators directly from raw sensory inputs. It is appealing due to the ease of labeled…

After the 2017 TuSimple Lane Detection Challenge, its dataset and evaluation based on accuracy and F1 score have become the de facto standard to measure the performance of lane detection methods. While they have played a major role in…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

Autonomous driving holds transformative potential but remains fundamentally constrained by the limited perception and isolated decision-making with standalone intelligence. While recent multi-agent approaches introduce cooperation, they…

Deep neural network controllers for autonomous driving have recently benefited from significant performance improvements, and have begun deployment in the real world. Prior to their widespread adoption, safety guarantees are needed on the…

Autonomous parking fundamentally differs from on-road driving due to its frequent direction changes and complex maneuvering requirements. However, existing End-to-End (E2E) planning methods often simplify the parking task into a geometric…