354 citations · 1.1k across the 115 of their papers we have counts for
14 papers · 1 filter
Outracing Human Racers with Model-based Planning and Control for Time-trial Racing
Ce Hao, Chen Tang, Eric Bergkvist +4
Autonomous racing has become a popular sub-topic of autonomous driving in recent years. The goal of autonomous racing research is to develop software to control the vehicle at its…
Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detection
Jinhyung Park, Chenfeng Xu, Shijia Yang +4
While recent camera-only 3D detection methods leverage multiple timesteps, the limited history they use significantly hampers the extent to which temporal fusion can improve object…
Center Feature Fusion: Selective Multi-Sensor Fusion of Center-based Objects
Philip Jacobson, Yiyang Zhou, Wei Zhan +2
Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until…
Analyzing and Enhancing Closed-loop Stability in Reactive Simulation
Wei-Jer Chang, Yeping Hu, Chenran Li +2
Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where t…
Generalizability Analysis of Graph-based Trajectory Predictor with Vectorized Representation
Juanwu Lu, Wei Zhan, Masayoshi Tomizuka +1
Trajectory prediction is one of the essential tasks for autonomous vehicles. Recent progress in machine learning gave birth to a series of advanced trajectory prediction algorithms…
What Matters for 3D Scene Flow Network
Guangming Wang, Yunzhe Hu, Zhe Liu +4
3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it…
SST-Calib: Simultaneous Spatial-Temporal Parameter Calibration between LIDAR and Camera
Akio Kodaira, Yiyang Zhou, Pengwei Zang +2
With information from multiple input modalities, sensor fusion-based algorithms usually out-perform their single-modality counterparts in robotics. Camera and LIDAR, with complemen…
Efficient Game-Theoretic Planning with Prediction Heuristic for Socially-Compliant Autonomous Driving
Chenran Li, Tu Trinh, Letian Wang +3
Planning under social interactions with other agents is an essential problem for autonomous driving. As the actions of the autonomous vehicle in the interactions affect and are als…
Hierarchical Planning Through Goal-Conditioned Offline Reinforcement Learning
Jinning Li, Chen Tang, Masayoshi Tomizuka +1
Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills…
PreTraM: Self-Supervised Pre-training via Connecting Trajectory and Map
Chenfeng Xu, Tian Li, Chen Tang +5
Deep learning has recently achieved significant progress in trajectory forecasting. However, the scarcity of trajectory data inhibits the data-hungry deep-learning models from lear…
Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Prediction
Chen Tang, Wei Zhan, Masayoshi Tomizuka
Conditional behavior prediction (CBP) builds up the foundation for a coherent interactive prediction and planning framework that can enable more efficient and less conservative man…
DetMatch: Two Teachers are Better Than One for Joint 2D and 3D Semi-Supervised Object Detection
Jinhyung Park, Chenfeng Xu, Yiyang Zhou +2
While numerous 3D detection works leverage the complementary relationship between RGB images and point clouds, developments in the broader framework of semi-supervised object recog…
Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned Interactive Trajectory Prediction
Lingfeng Sun, Chen Tang, Yaru Niu +5
Motion forecasting in highly interactive scenarios is a challenging problem in autonomous driving. In such scenarios, we need to accurately predict the joint behavior of interactin…
Transferable and Adaptable Driving Behavior Prediction
Letian Wang, Yeping Hu, Liting Sun +3
While autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient, transferable, and…