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

With advances in imitation learning (IL) and large-scale driving datasets, end-to-end autonomous driving (E2E-AD) has made great progress recently. Currently, IL-based methods have become a mainstream paradigm: models rely on standard…

While end-to-end autonomous driving models show promising results, their practical deployment is often hindered by large model sizes, a reliance on expensive LiDAR sensors and computationally intensive BEV feature representations. This…

In today's digital world, the generation of vast amounts of streaming data in various domains has become ubiquitous. However, many of these data are unlabeled, making it challenging to identify events, particularly anomalies. This task…

The image-based lane detection algorithm is one of the key technologies in autonomous vehicles. Modern deep learning methods achieve high performance in lane detection, but it is still difficult to accurately detect lanes in challenging…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

State-of-the-art approaches for autonomous driving integrate multiple sub-tasks of the overall driving task into a single pipeline that can be trained in an end-to-end fashion by passing latent representations between the different modules.…

Vision-based end-to-end (E2E) driving has garnered significant interest in the research community due to its scalability and synergy with multimodal large language models (MLLMs). However, current E2E driving benchmarks primarily feature…

End-to-end autonomous driving has emerged as a promising paradigm for directly mapping sensor inputs to planning maneuvers using learning-based modular integrations. However, existing imitation learning (IL)-based models suffer from…

End-to-end autonomous driving directly generates planning trajectories from raw sensor data, yet it typically relies on costly perception supervision to extract scene information. A critical research challenge arises: constructing an…

In recent years, fully differentiable end-to-end autonomous driving systems have become a research hotspot in the field of intelligent transportation. Among various research directions, automatic parking is particularly critical as it aims…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

End-to-end autonomous driving solutions, which process multi-modal sensory data to directly generate refined control commands, have become a dominant paradigm in autonomous driving research. However, these approaches predominantly depend on…

We present Flex, an efficient and effective scene encoder that addresses the computational bottleneck of processing high-volume multi-camera data in end-to-end autonomous driving. Flex employs a small set of learnable scene tokens to…

Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

Assurance 2.0 is a modern framework developed to address the assurance challenges of increasingly complex, adaptive, and autonomous systems. Building on the traditional Claims-Argument-Evidence (CAE) model, it introduces reusable assurance…

A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

The key to achieving autonomous driving lies in topology-aware perception, the structured understanding of the driving environment with an emphasis on lane topology and road semantics. This survey systematically reviews four core research…