323 citations · 353 across the 15 of their papers we have counts for
8 papers · 1 filter
Towards Explainability in Modular Autonomous Vehicle Software
Hongrui Zheng, Zirui Zang, Shuo Yang +1
Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces hi…
Local_INN: Implicit Map Representation and Localization with Invertible Neural Networks
Zirui Zang, Hongrui Zheng, Johannes Betz +1
Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved…
Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
Johannes Betz, Hongrui Zheng, Zirui Zang +8
Although robotics courses are well established in higher education, the courses often focus on theory and sometimes lack the systematic coverage of the techniques involved in devel…
Bypassing the Simulation-to-reality Gap: Online Reinforcement Learning using a Supervisor
Benjamin David Evans, Johannes Betz, Hongrui Zheng +3
Deep reinforcement learning (DRL) is a promising method to learn control policies for robots only from demonstration and experience. To cover the whole dynamic behaviour of the rob…
Game-theoretic Objective Space Planning
Hongrui Zheng, Zhijun Zhuang, Johannes Betz +1
Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent…
Winning the 3rd Japan Automotive AI Challenge -- Autonomous Racing with the Autoware.Auto Open Source Software Stack
Zirui Zang, Renukanandan Tumu, Johannes Betz +2
The 3rd Japan Automotive AI Challenge was an international online autonomous racing challenge where 164 teams competed in December 2021. This paper outlines the winning strategy to…
Gradient-free Multi-domain Optimization for Autonomous Systems
Hongrui Zheng, Johannes Betz, Rahul Mangharam
Autonomous systems are composed of several subsystems such as mechanical, propulsion, perception, planning and control. These are traditionally designed separately which makes perf…
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Johannes Betz, Hongrui Zheng, Alexander Liniger +5
The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware…