相关论文: ADV-0: Closed-Loop Min-Max Adversarial Training fo…

Despite significant advancements in deep reinforcement learning (DRL)-based autonomous driving policies, these policies still exhibit vulnerability to adversarial attacks. This vulnerability poses a formidable challenge to the practical…

Autonomous cars are well known for being vulnerable to adversarial attacks that can compromise the safety of the car and pose danger to other road users. To effectively defend against adversaries, it is required to not only test autonomous…

Trajectory prediction is essential for autonomous vehicles (AVs) to plan correct and safe driving behaviors. While many prior works aim to achieve higher prediction accuracy, few study the adversarial robustness of their methods. To bridge…

Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory…

In this article, we demonstrate a zero-shot transfer of an autonomous driving policy from simulation to University of Delaware's scaled smart city with adversarial multi-agent reinforcement learning, in which an adversary attempts to…

The deployment of autonomous vehicles (AVs) has faced hurdles due to the dominance of rare but critical corner cases within the long-tail distribution of driving scenarios, which negatively affects their overall performance. To address this…

Autonomous vehicles in interactive traffic environments are often limited by the scarcity of safety-critical tail events in static datasets, which biases learned policies toward average-case behaviors and reduces robustness. Existing…

Driving safety is a top priority for autonomous vehicles. Orthogonal to prior work handling accident-prone traffic events by algorithm designs at the policy level, we investigate a Closed-loop Adversarial Training (CAT) framework for safe…

Deep neural networks have demonstrated their capability to learn control policies for a variety of tasks. However, these neural network-based policies have been shown to be susceptible to exploitation by adversarial agents. Therefore, there…

We study the problem of learning a Nash equilibrium (NE) in Markov games which is a cornerstone in multi-agent reinforcement learning (MARL). In particular, we focus on infinite-horizon adversarial team Markov games (ATMGs) in which agents…

Real-world autonomous driving, particularly in urban environments with numerous corner cases, requires rigorous testing to ensure product safety and robustness. However, few studies have explored integrating adversarial scenario generation…

An ideal strategy in zero-sum games should not only grant the player an average reward no less than the value of Nash equilibrium, but also exploit the (adaptive) opponents when they are suboptimal. While most existing works in Markov games…

One prominent approach toward resolving the adversarial vulnerability of deep neural networks is the two-player zero-sum paradigm of adversarial training, in which predictors are trained against adversarially chosen perturbations of data.…

The safe deployment of autonomous driving (AD) systems is fundamentally hindered by the long-tail problem, where rare yet critical driving scenarios are severely underrepresented in real-world data. Existing solutions including…

Trajectory prediction is a critical component for autonomous vehicles (AVs) to perform safe planning and navigation. However, few studies have analyzed the adversarial robustness of trajectory prediction or investigated whether the…

It is well-known that deep learning models are vulnerable to adversarial examples. Existing studies of adversarial training have made great progress against this challenge. As a typical trait, they often assume that the class distribution…

The worst-case training principle that minimizes the maximal adversarial loss, also known as adversarial training (AT), has shown to be a state-of-the-art approach for enhancing adversarial robustness. Nevertheless, min-max optimization…

To improve efficiency and reduce failures in autonomous vehicles, research has focused on developing robust and safe learning methods that take into account disturbances in the environment. Existing literature in robust reinforcement…

Adversarial training has gained great popularity as one of the most effective defenses for deep neural network and more generally for gradient-based machine learning models against adversarial perturbations on data points. This paper…

Autonomous vehicles must be comprehensively evaluated before deployed in cities and highways. However, most existing evaluation approaches for autonomous vehicles are static and lack adaptability, so they are usually inefficient in…