相关论文: HAD: Combining Hierarchical Diffusion with Metric-…

Recent studies have shown the great potential of diffusion models in improving reinforcement learning (RL) by modeling complex policies, expressing a high degree of multi-modality, and efficiently handling high-dimensional continuous…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

End-to-end multi-modal planning is a promising paradigm in autonomous driving, enabling decision-making with diverse trajectory candidates. A key component is a robust trajectory scorer capable of selecting the optimal trajectory from these…

We introduce Guided Harmonic Path-Integral Diffusion (GH-PID), a linearly-solvable framework for guided Stochastic Optimal Transport (SOT) with a hard terminal distribution and soft, application-driven path costs. A low-dimensional guidance…

End-to-end autonomous driving (E2E-AD) has rapidly emerged as a promising approach toward achieving full autonomy. However, existing E2E-AD systems typically adopt a traditional multi-task framework, addressing perception, prediction, and…

Current End-to-End Autonomous Driving (E2E-AD) methods resort to unifying modular designs for various tasks (e.g. perception, prediction and planning). Although optimized with a fully differentiable framework in a planning-oriented manner,…

Decision-making stands as a pivotal component in the realm of autonomous vehicles (AVs), playing a crucial role in navigating the intricacies of autonomous driving. Amidst the evolving landscape of data-driven methodologies, enhancing…

Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…

Fine-tuning foundation models via reinforcement learning (RL) has proven promising for aligning to downstream objectives. In the case of diffusion models (DMs), though RL training improves alignment from early timesteps, critical issues…

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…

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…

High penetration of renewable energy sources (RES) introduces significant uncertainty and intermittency into microgrid operations, posing challenges to economic and reliable scheduling. To address this, this paper proposes an end-to-end…

End-to-end autonomous driving remains constrained by the difficulty of producing adaptive, robust, and interpretable decision-making across diverse scenarios. Existing methods often collapse diverse driving behaviors, lack long-horizon…

Constructing robots to accomplish long-horizon tasks is a long-standing challenge within artificial intelligence. Approaches using generative methods, particularly Diffusion Models, have gained attention due to their ability to model…

Diffusion Models represent a significant advancement in generative modeling, employing a dual-phase process that first degrades domain-specific information via Gaussian noise and restores it through a trainable model. This framework enables…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…