相关论文: Bench2Drive-Robust: Benchmarking Closed-Loop Auton…

In safety-critical deep learning applications, robustness measures the ability of neural models that handle imperceptible perturbations in input data, which may lead to potential safety hazards. Existing pre-deployment robustness assessment…

We aim to redefine robust ego-motion estimation and photorealistic 3D reconstruction by addressing a critical limitation: the reliance on noise-free data in existing models. While such sanitized conditions simplify evaluation, they fail to…

Personalization, while extensively studied in conventional autonomous driving pipelines, has been largely overlooked in the context of end-to-end autonomous driving (E2EAD), despite its critical role in fostering user trust, safety…

Vision-based end-to-end (E2E) driving has garnered significant interest in the research community due to its scalability and synergy with multimodal large language models (MLLMs). However, current E2E driving benchmarks primarily feature…

Recent Autonomous Driving (AD) works such as GigaFlow and PufferDrive have unlocked Reinforcement Learning (RL) at scale as a training strategy for driving policies. Yet such policies remain disconnected from established benchmarks, leaving…

This research addresses critical autonomous vehicle control challenges arising from road roughness variation, which induces course deviations and potential loss of road contact during steering operations. We present a novel real-time road…

Unmanned Aerial Vehicles (UAVs) are getting closer to becoming ubiquitous in everyday life. Among them, Micro Aerial Vehicles (MAVs) have seen an outburst of attention recently, specifically in the area with a demand for autonomy. A key…

Due to the high performance and safety requirements of self-driving applications, the complexity of modern autonomous driving systems (ADS) has been growing, instigating the need for more sophisticated hardware which could add to the energy…

Roadside perception systems are increasingly crucial in enhancing traffic safety and facilitating cooperative driving for autonomous vehicles. Despite rapid technological advancements, a major challenge persists for this newly arising…

Proprietary Autonomous Driving Systems are typically evaluated through disengagements, unplanned manual interventions to alter vehicle behavior, as annually reported by the California Department of Motor Vehicles. However, the real-world…

We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…

Recently, RobustBench (Croce et al. 2020) has become a widely recognized benchmark for the adversarial robustness of image classification networks. In its most commonly reported sub-task, RobustBench evaluates and ranks the adversarial…

Input-output robustness appears in various different forms in the literature, such as robustness of AI models to adversarial or semantic perturbations and individual fairness of AI models that make decisions about humans. We propose runtime…

End-to-end learning has shown great potential in autonomous parking, yet the lack of publicly available datasets limits reproducibility and benchmarking. While prior work introduced a visual-based parking model and a pipeline for data…

The deployment of machine learning in high-stakes services relies on ``human-in-the-loop'' architectures to mitigate algorithmic uncertainty. However, existing static policies fail to address a fundamental tension: algorithms suffer from…

Our work introduces a module for assessing the trajectory safety of autonomous vehicles in dynamic environments marked by high uncertainty. We focus on occluded areas and occluded traffic participants with limited information about…

Multi-view depth estimation has achieved impressive performance over various benchmarks. However, almost all current multi-view systems rely on given ideal camera poses, which are unavailable in many real-world scenarios, such as autonomous…

Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…