相关论文: Zero-Shot Cross-City Generalization in End-to-End …

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

Existing imitation learning methods for end-to-end autonomous driving predominantly learn from successful demonstrations by minimizing geometric deviations from expert trajectories. This paradigm implicitly assumes that spatial proximity…

Bird's-eye-view (BEV) representations derived from multi-camera input have become a central interface for online high-definition (HD) map construction. However, most approaches rely solely on ego-centric supervision, requiring large-scale…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios.…

Transfer learning is an important field of machine learning in general, and particularly in the context of fully autonomous driving, which needs to be solved simultaneously for many different domains, such as changing weather conditions and…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

Transferring the ImageNet pre-trained weights to the various remote sensing tasks has produced acceptable results and reduced the need for labeled samples. However, the domain differences between ground imageries and remote sensing images…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Existing navigation methods are primarily designed for specific robot embodiments, limiting their generalizability across diverse robot platforms. In this paper, we introduce X-Nav, a novel framework for end-to-end cross-embodiment…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet…

In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem…

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…