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

With the recent advancement of deep learning technology, data-driven approaches for autonomous car prediction and planning have achieved extraordinary performance. Nevertheless, most of these approaches follow a non-interactive prediction…

Existing traffic simulation models often fall short in capturing the intricacies of real-world scenarios, particularly the interactive behaviors among multiple traffic participants, thereby limiting their utility in the evaluation and…

Simulation is critical for safety evaluation in autonomous driving, particularly in capturing complex interactive behaviors. However, generating realistic and controllable traffic scenarios in long-tail situations remains a significant…

We present a framework for dynamic trajectory generation for autonomous navigation, which does not rely on HD maps as the underlying representation. High Definition (HD) maps have become a key component in most autonomous driving…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

End-to-end (E2E) autonomous driving systems offer a promising alternative to traditional modular pipelines by reducing information loss and error accumulation, with significant potential to enhance both mobility and safety. However, most…

Diffusion models have emerged as powerful generative models for graph generation, yet their use for conditional graph generation remains a fundamental challenge. In particular, guiding diffusion models on graphs under arbitrary reward…

This paper presents a personalized Battery Electric Vehicle (BEV) energy consumption estimation framework that integrates map-based contextual features with driver-specific velocity prediction and physics-based energy consumption modeling.…

We present TimeAutoDiff, a unified latent-diffusion framework for four fundamental time-series tasks: unconditional generation, missing-data imputation, forecasting, and time-varying-metadata conditional generation. The model natively…

Recent advances in offline Reinforcement Learning (RL) have proven that effective policy learning can benefit from imposing conservative constraints on pre-collected datasets. However, such static datasets often exhibit distribution bias,…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

We introduce a novel, training-free approach for enhancing alignment in Transformer-based Text-Guided Diffusion Models (TGDMs). Existing TGDMs often struggle to generate semantically aligned images, particularly when dealing with complex…

Panoramic perception holds significant potential for autonomous driving, enabling vehicles to acquire a comprehensive 360{\deg} surround view in a single shot. However, autonomous driving is a data-driven task. Complete panoramic data…

End-to-End (E2E) solutions have emerged as a mainstream approach for autonomous driving systems, with Vision-Language-Action (VLA) models representing a new paradigm that leverages pre-trained multimodal knowledge from Vision-Language…

Benchmarking vision-based driving policies is challenging. On one hand, open-loop evaluation with real data is easy, but these results do not reflect closed-loop performance. On the other, closed-loop evaluation is possible in simulation,…

Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…

The comprehensiveness of vehicle-to-everything (V2X) recognition enriches and holistically shapes the global Birds-Eye-View (BEV) perception, incorporating rich semantics and integrating driving scene information, thereby serving features…

Most end-to-end autonomous driving methods rely on imitation learning from single expert demonstrations, often leading to conservative and homogeneous behaviors that limit generalization in complex real-world scenarios. In this work, we…

We explore Bird's-Eye View (BEV) generation, converting a BEV map into its corresponding multi-view street images. Valued for its unified spatial representation aiding multi-sensor fusion, BEV is pivotal for various autonomous driving…

Diffusion models are promising for joint trajectory prediction and controllable generation in autonomous driving, but they face challenges of inefficient inference steps and high computational demands. To tackle these challenges, we…