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

We propose UAD, a method for vision-based end-to-end autonomous driving (E2EAD), achieving the best open-loop evaluation performance in nuScenes, meanwhile showing robust closed-loop driving quality in CARLA. Our motivation stems from the…

We propose an imitation learning system for autonomous driving in urban traffic with interactions. We train a Behavioral Cloning~(BC) policy to imitate driving behavior collected from the real urban traffic, and apply the data aggregation…

Although Deep Reinforcement Learning (DRL) and Large Language Models (LLMs) each show promise in addressing decision-making challenges in autonomous driving, DRL often suffers from high sample complexity, while LLMs have difficulty ensuring…

Autonomous driving is a complex task, which has been tackled since the first self-driving car ALVINN in 1989, with a supervised learning approach, or behavioral cloning (BC). In BC, a neural network is trained with state-action pairs that…

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…

Simulation is crucial in the development of autonomous driving software. In particular, assessing control algorithms requires an accurate vehicle dynamics simulation. However, recent publications use models with varying levels of detail.…

Planner evaluation in closed-loop simulation often uses rule-based traffic agents, whose simplistic and passive behavior can hide planner deficiencies and bias rankings. Widely used IDM agents simply follow a lead vehicle and cannot react…

Large-scale data is crucial for learning realistic and capable driving policies. However, it can be impractical to rely on scaling datasets with real data alone. The majority of driving data is uninteresting, and deliberately collecting new…

In recent years, imitation-based driving planners have reported considerable success. However, due to the absence of a standardized benchmark, the effectiveness of various designs remains unclear. The newly released nuPlan addresses this…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

The emergence of data-driven machine learning (ML) has facilitated significant progress in many complicated tasks such as highly-automated driving. While much effort is put into improving the ML models and learning algorithms in such…

Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations…

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…

End-to-end autonomous driving has been recently seen rapid development, exerting a profound influence on both industry and academia. However, the existing work places excessive focus on ego-vehicle status as their sole learning objectives…

Imitation learning with a privileged teacher has proven effective for learning complex control behaviors from high-dimensional inputs, such as images. In this framework, a teacher is trained with privileged task information, while a student…

Human-driven vehicles (HVs) exhibit complex and diverse behaviors. Accurately modeling such behavior is crucial for validating Robot Vehicles (RVs) in simulation and realizing the potential of mixed traffic control. However, existing…

Novel vehicular communication methods are mostly analyzed simulatively or analytically as real world performance tests are highly time-consuming and cost-intense. Moreover, the high number of uncontrollable effects makes it practically…

3D perception using sensors under vehicle industrial standard is the rigid demand in autonomous driving. MEMS LiDAR emerges with irresistible trend due to its lower cost, more robust, and meeting the mass-production standards. However, it…

Vehicle-to-Everything (V2X) communication has emerged as a promising paradigm for autonomous driving, enabling connected agents to share complementary perception information and negotiate with each other to benefit the final planning.…

Scaling Vision-Language-Action (VLA) models on large-scale data offers a promising path to achieving a more generalized driving intelligence. However, VLA models are limited by a ``supervision deficit'': the vast model capacity is…