相关论文: LEAD: Minimizing Learner-Expert Asymmetry in End-t…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

Reinforcement Learning (RL) has the potential to surpass human performance in driving without needing any expert supervision. Despite its promise, the state-of-the-art in sensorimotor self-driving is dominated by imitation learning methods…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Collecting a high-quality dataset is a critical task that demands meticulous attention to detail, as overlooking certain aspects can render the entire dataset unusable. Autonomous driving challenges remain a prominent area of research,…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

End-to-end learning directly maps sensory inputs to actions, creating highly integrated and efficient policies for complex robotics tasks. However, such models often struggle to generalize beyond their training scenarios, limiting…

Event cameras are gaining traction in traffic monitoring applications due to their low latency, high temporal resolution, and energy efficiency, which makes them well-suited for real-time object detection at traffic intersections. However,…

Most recent work in autonomous driving has prioritized benchmark performance and methodological innovation over in-depth analysis of model failures, biases, and shortcut learning. This has led to incremental improvements without a deep…

Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…

Recent advances in high-fidelity simulators have enabled closed-loop training of autonomous driving agents, potentially solving the distribution shift in training v.s. deployment and allowing training to be scaled both safely and cheaply.…

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…

The emergence of general human knowledge and impressive logical reasoning capacity in rapidly progressed vision-language models (VLMs) have driven increasing interest in applying VLMs to high-level autonomous driving tasks, such as scene…

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

The objective of this paper is to develop a sample efficient end-to-end deep learning method for self-driving cars, where we attempt to increase the value of the information extracted from samples, through careful analysis obtained from…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…