相关论文: DualShield: Safe Model Predictive Diffusion via Re…

Diffusion models have recently emerged as effective generative frameworks for trajectory optimization, capable of producing high-quality and diverse solutions. However, training these models in a purely data-driven manner without explicit…

Autonomous systems operating in close proximity with each other to cover a specified area has many potential applications, but to achieve effective coordination, two key challenges need to be addressed: coordination and safety. For…

Generative models have recently undergone significant advancement due to the diffusion models. The success of these models can be often attributed to their use of guidance techniques, such as classifier or classifier-free guidance, which…

Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to generate trajectories that maximize both a differentiable…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…

BEV perception is of great importance in the field of autonomous driving, serving as the cornerstone of planning, controlling, and motion prediction. The quality of the BEV feature highly affects the performance of BEV perception. However,…

Learning-based planners generate natural human-like driving behaviors by learning to reason about nuanced interactions from data, overcoming the rigid behaviors that arise from rule-based planners. Nonetheless, data-driven approaches often…

Generating realistic simulations is critical for autonomous system applications such as self-driving and human-robot interactions. However, driving simulators nowadays still have difficulty in generating controllable, diverse, and…

Generating safety-critical driving scenarios is crucial for evaluating and improving autonomous driving systems, but long-tail risky situations are rarely observed in real-world data and difficult to specify through manual scenario design.…

In this paper, we present a safe deep reinforcement learning system for automated driving. The proposed framework leverages merits of both rule-based and learning-based approaches for safety assurance. Our safety system consists of two…

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous…

In this paper, a synergistic combination of deep reinforcement learning and hierarchical game theory is proposed as a modeling framework for behavioral predictions of drivers in highway driving scenarios. The need for a modeling framework…

In hybrid traffic environments where human-driven vehicles (HDVs) and autonomous vehicles (AVs) coexist, achieving safe and robust decision-making for AV platooning remains a complex challenge. Existing platooning systems often struggle…

Autonomous driving necessitates the ability to reason about future interactions between traffic agents and to make informed evaluations for planning. This paper introduces the \textit{Gen-Drive} framework, which shifts from the traditional…

This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Autonomous manipulation systems have achieved remarkable capabilities, yet the integration of human expertise with diffusion-based policies in shared control remains relatively unexplored. In this paper, we propose Human-In-The-Loop…

Obtaining safety guarantees for reinforcement learning is a major challenge to achieve applicability for real-world tasks. Safety shields extend standard reinforcement learning and achieve hard safety guarantees. However, existing safety…

Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-modal distribution of feasible trajectories. However, their extension to multi-robot settings with flexible, language-conditioned task…