相关论文: AlignDrive: Aligned Lateral-Longitudinal Planning …

One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world…

This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…

Path planning is an essential component of autonomous driving. A global planner is responsible for the high-level planning. It basically performs a shortest-path search on a known map, thereby defining waypoints used to control the local…

The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge…

Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…

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…

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,…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…

With the rapid advancement of large language models (LLMs) technologies, their application in the domain of autonomous driving has become increasingly widespread. However, existing methods suffer from unstructured reasoning, poor…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

End-to-end autonomous driving systems excel in common scenarios but struggle with safety-critical long-tail cases. Vision-Language-Action (VLA) models are promising due to their strong reasoning capabilities. However, most VLA-based…

Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…

End-to-end autonomous driving is typically built upon imitation learning (IL), yet its performance is constrained by the quality of human demonstrations. To overcome this limitation, recent methods incorporate reinforcement learning (RL)…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

While supervised learning is widely used for perception modules in conventional autonomous driving solutions, scalability is hindered by the huge amount of data labeling needed. In contrast, while end-to-end architectures do not require…

Lane merging is one of the critical tasks for self-driving cars, and how to perform lane-merge maneuvers effectively and safely has become one of the important standards in measuring the capability of autonomous driving systems. However,…

Significant progress has been made in training multimodal trajectory forecasting models for autonomous driving. However, effectively integrating these models with downstream planners and model-based control approaches is still an open…

The pursuit of autonomous agents capable of temporally coherent planning is hindered by a fundamental flaw in current vision-language models (VLMs): they lack cognitive inertia. Operating on isolated snapshots, these models cannot form a…

We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables…

With the development and the increasing interests in ML/DL fields, companies are eager to apply Machine Learning/Deep Learning approaches to increase service quality and customer experience. Federated Learning was implemented as an…