相关论文: Mimir: Hierarchical Goal-Driven Diffusion with Unc…

Unlike discriminative approaches in autonomous driving that predict a fixed set of candidate trajectories of the ego vehicle, generative methods, such as diffusion models, learn the underlying distribution of future motion, enabling more…

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…

This paper presents ARTEMIS, an end-to-end autonomous driving framework that combines autoregressive trajectory planning with Mixture-of-Experts (MoE). Traditional modular methods suffer from error propagation, while existing end-to-end…

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…

End-to-end multi-modal planning is a promising paradigm in autonomous driving, enabling decision-making with diverse trajectory candidates. A key component is a robust trajectory scorer capable of selecting the optimal trajectory from these…

Trajectory prediction is an essential component in autonomous driving, particularly for collision avoidance systems. Considering the inherent uncertainty of the task, numerous studies have utilized generative models to produce multiple…

End-to-end planning has emerged as a dominant paradigm for autonomous driving, where recent models often adopt a scoring-selection framework to choose trajectories from a large set of candidates, with diffusion-based decoding showing strong…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

End-to-end autonomous driving faces persistent challenges in both generating diverse, rule-compliant trajectories and robustly selecting the optimal path from these options via learned, multi-faceted evaluation. To address these challenges,…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

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…

End-to-end autonomous driving models increasingly benefit from large vision--language models for semantic understanding, yet ensuring safe and accurate operation under long-tail conditions remains challenging. These challenges are…

The present state of the art in analytics requires high upfront investment of human effort and computational resources to curate datasets, even before the first query is posed. So-called pay-as-you-go data curation techniques allow these…

The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…

Recently, anchor-based trajectory prediction methods have shown promising performance, which directly selects a final set of anchors as future intents in the spatio-temporal coupled space. However, such methods typically neglect a deeper…

Autonomous vehicles must navigate safely in complex driving environments. Imitating a single expert trajectory, as in regression-based approaches, usually does not explicitly assess the safety of the predicted trajectory. Selection-based…

End-to-end diffusion planning has shown strong potential for autonomous driving, but the physical feasibility of generated trajectories remains insufficiently addressed. In particular, generated trajectories may exhibit local geometric…

The autonomous driving community has witnessed a rapid growth in approaches that embrace an end-to-end algorithm framework, utilizing raw sensor input to generate vehicle motion plans, instead of concentrating on individual tasks such as…

We propose GoalFlow, an end-to-end autonomous driving method for generating high-quality multimodal trajectories. In autonomous driving scenarios, there is rarely a single suitable trajectory. Recent methods have increasingly focused on…