相关论文: Map-Agnostic And Interactive Safety-Critical Scena…

Generating safety-critical scenarios is essential for testing and verifying the safety of autonomous vehicles. Traditional optimization techniques suffer from the curse of dimensionality and limit the search space to fixed parameter spaces.…

Balancing safety and efficiency when planning in dense traffic is challenging. Interactive behavior planners incorporate prediction uncertainty and interactivity inherent to these traffic situations. Yet, their use of single-objective…

Leveraging the power of a graph neural network (GNN) with message passing, we present a Monte Carlo Tree Search (MCTS) method to solve stochastic orienteering problems with chance constraints. While adhering to an assigned travel budget the…

In the world of embedded systems, optimizing actions with the uncertain costs of multiple resources is a complex challenge. Existing methods include plan building based on Monte Carlo Tree Search (MCTS), an approach that thrives in multiple…

Generating adversarial safety-critical scenarios is a pivotal method for testing autonomous driving systems, as it identifies potential weaknesses and enhances system robustness and reliability. However, existing approaches predominantly…

This paper presents a scenario generation framework that creates diverse, parametrized, and safety-critical driving situations to validate the safety features of autonomous vehicles in simulation [15]. By modeling factors such as road…

Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…

Machine learning based autonomous driving systems often face challenges with safety-critical scenarios that are rare in real-world data, hindering their large-scale deployment. While increasing real-world training data coverage could…

Monte Carlo Tree Search (MCTS), most famously used in game-play artificial intelligence (e.g., the game of Go), is a well-known strategy for constructing approximate solutions to sequential decision problems. Its primary innovation is the…

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…

In this paper, we propose a new cooperative driving strategy for connected and automated vehicles (CAVs) at unsignalized intersections. Based on the tree representation of the solution space for the passing order, we combine Monte Carlo…

Ensuring the safety of autonomous vehicles requires virtual scenario-based testing, which depends on the robust evaluation and generation of safety-critical scenarios. So far, researchers have used scenario-based testing frameworks that…

We present a scalable tree search planning algorithm for large multi-agent sequential decision problems that require dynamic collaboration. Teams of agents need to coordinate decisions in many domains, but naive approaches fail due to the…

Monte-Carlo Tree Search (MCTS) is a class of methods for solving complex decision-making problems through the synergy of Monte-Carlo planning and Reinforcement Learning (RL). The highly combinatorial nature of the problems commonly…

Designing diverse and safety-critical driving scenarios is essential for evaluating autonomous driving systems. In this paper, we propose a novel framework that leverages Large Language Models (LLMs) for few-shot code generation to…

Monte-Carlo Tree Search (MCTS) is a fundamental sampling-based search algorithm widely used for online planning in sequential decision-making domains. Despite its success in driving recent advances in artificial intelligence, understanding…

This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time and path risk. This generalization, referred to as…

We propose a provably correct Monte Carlo tree search (MCTS) algorithm for solving risk-aware Markov decision processes (MDPs) with entropic risk measure (ERM) objectives. We provide a non-asymptotic analysis of our proposed algorithm,…

In complex real-world traffic environments, autonomous vehicles (AVs) need to interact with other traffic participants while making real-time and safety-critical decisions accordingly. The unpredictability of human behaviors poses…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…