相关论文: TakeAD: Preference-based Post-optimization for End…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

Direct Preference Optimisation (DPO) is effective at significantly improving the performance of large language models (LLMs) on downstream tasks such as reasoning, summarisation, and alignment. Using pairs of preferred and dispreferred…

We study the $(\varepsilon, \delta)$-PAC policy identification problem in finite-horizon episodic Markov Decision Processes. Existing approaches provide finite-time guarantees for approximate settings ($\varepsilon>0$) but suffer from high…

The rapid expansion of platform integration has emerged as an effective solution to mitigate market fragmentation by consolidating multiple ride-hailing platforms into a single application. To address heterogeneous passenger preferences,…

Deploying autonomous driving systems requires robustness against long-tail scenarios that are rare but safety-critical. While adversarial training offers a promising solution, existing methods typically decouple scenario generation from…

Expressive generative models have advanced robotic manipulation by capturing complex, multi-modal action distributions over temporally extended trajectories. However, fine-tuning these policies via RL remains challenging due to instability…

End-to-end (E2E) autonomous driving models have demonstrated strong performance in open-loop evaluations but often suffer from cascading errors and poor generalization in closed-loop settings. To address this gap, we propose Model-based…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Efficient scalability of automated driving (AD) is key to reducing costs, enhancing safety, conserving resources, and maximizing impact. However, research focuses on specific vehicles and context, while broad deployment requires scalability…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

Self-evolution is indispensable to realize full autonomous driving. This paper presents a self-evolving decision-making system based on the Integrated Decision and Control (IDC), an advanced framework built on reinforcement learning (RL).…

The class of direct preference optimization (DPO) algorithms has emerged as a promising approach for solving the alignment problem in foundation models. These algorithms work with very limited feedback in the form of pairwise preferences…

While end-to-end autonomous driving has advanced significantly, prevailing methods remain fundamentally misaligned with human cognitive principles in both perception and planning. In this paper, we propose CogAD, a novel end-to-end…

Imitation learning has been widely applied to various autonomous systems thanks to recent development in interactive algorithms that address covariate shift and compounding errors induced by traditional approaches like behavior cloning.…

Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…

Reinforcement learning for large language models faces a fundamental trade-off between sample efficiency and asymptotic performance: strictly on-policy methods discard trajectories after a single update, while off-policy reuse introduces…

This paper tackles the growing issue of excessive data transmission in networks. With increasing traffic, backhaul links and core networks are under significant traffic, leading to the investigation of caching solutions at edge routers.…

Offline reinforcement learning methods hold the promise of learning policies from pre-collected datasets without the need to query the environment for new transitions. This setting is particularly well-suited for continuous control robotic…