相关论文: TrajDiff: End-to-end Autonomous Driving without Pe…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

State-of-the-art autonomous driving systems rely on high definition (HD) maps for localization and navigation. However, building and maintaining HD maps is time-consuming and expensive. Furthermore, the HD maps assume structured environment…

Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory…

Autonomous driving is an emerging technology that is expected to bring significant social, economic, and environmental benefits. However, these benefits come with rising energy consumption by computation engines, limiting the driving range…

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular…

End-to-end planning systems for autonomous driving are rapidly improving, especially in closed-loop simulation environments like CARLA. Many such driving systems either do not consider uncertainty as part of the plan itself or obtain it by…

Generating safe and reliable trajectories for autonomous vehicles in long-tail scenarios remains a significant challenge, particularly for high-lateral-acceleration maneuvers such as sharp turns, which represent critical safety situations.…

End-to-end autonomous driving has achieved remarkable advancements in recent years. Existing methods primarily follow a perception-planning paradigm, where perception and planning are executed sequentially within a fully differentiable…

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…

In this paper, we introduce a novel approach to trajectory generation for autonomous driving, combining the strengths of Diffusion models and Transformers. First, we use the historical trajectory data for efficient preprocessing and…

Motion prediction is an important aspect for Autonomous Driving (AD) and Advance Driver Assistance Systems (ADAS). Current state-of-the-art motion prediction methods rely on High Definition (HD) maps for capturing the surrounding context of…

End-to-end autonomous driving (E2E-AD) has rapidly emerged as a promising approach toward achieving full autonomy. However, existing E2E-AD systems typically adopt a traditional multi-task framework, addressing perception, prediction, and…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…

End-to-end autonomous driving offers a streamlined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained…

Anticipating the motion of neighboring vehicles is crucial for autonomous driving, especially on congested highways where even slight motion variations can result in catastrophic collisions. An accurate prediction of a future trajectory…

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…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Centerline graphs, crucial for path planning in autonomous driving, are traditionally learned using deterministic methods. However, these methods often lack spatial reasoning and struggle with occluded or invisible centerlines. Generative…

In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle's trajectory is determined by…