相关论文: CorrectionPlanner: Self-Correction Planner with Re…

Safe and explainable motion planning remains a central challenge in autonomous driving. While rule-based planners offer predictable and explainable behavior, they often fail to grasp the complexity and uncertainty of real-world traffic.…

Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…

Learning-based autonomous driving systems are trained mostly on incident-free data, offering little guidance near safety-performance boundaries. Real crash reports contain precisely the contrastive evidence needed, but they are hard to use:…

We present a novel hybrid learning-assisted planning method, named HyPlan, for solving the collision-free navigation problem for self-driving cars in partially observable traffic environments. HyPlan combines methods for multi-agent…

The advent of end-to-end autonomy stacks - often lacking interpretable intermediate modules - has placed an increased burden on ensuring that the final output, i.e., the motion plan, is safe in order to validate the safety of the entire…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…

Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…

Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and…

Motion prediction and cost evaluation are vital components in the decision-making system of autonomous vehicles. However, existing methods often ignore the importance of cost learning and treat them as separate modules. In this study, we…

Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…

Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Recent advances in closed-loop planning benchmarks have significantly improved the evaluation of autonomous vehicles. However, existing benchmarks still rely on rule-based reactive agents such as the Intelligent Driver Model (IDM), which…

Driving in a human-like manner is important for an autonomous vehicle to be a smart and predictable traffic participant. To achieve this goal, parameters of the motion planning module should be carefully tuned, which needs great effort and…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…