14 papers
Inference-Time Attention Steering for Vision-Language-Action Driving Models
Darshan Nagendra Prasad, Lars Ullrich, Knut Graichen
Vision-language-action (VLA) driving models couple a reasoning stage with a diffusion-based trajectory decoder, but do not give a direct way to redirect attention toward safety-cri…
Asynchronous Sensitivity-Based Distributed NMPC
Maximilian Pierer von Esch, Andres Völz, Knut Graichen
This paper presents a cooperative distributed model predictive control (MPC) scheme for nonlinear continuous-time systems. The centralized optimal control problem is solved asynchr…
Enforcing Convergence in Sensitivity-based Distributed Programming via Transformed Primal-Dual Updates
Maximilian Pierer von Esch, Andreas Völz, Knut Graichen
Sensitivity-based distributed programming (SBDP) is a decomposition method for solving large-scale nonlinear programs over graph-structured networks. However, its convergence depen…
Sensitivity-Based Distributed Programming for Non-Convex Optimization
Maximilian Pierer von Esch, Andreas Völz, Knut Graichen
This paper presents a novel sensitivity-based distributed programming (SBDP) approach for non-convex, large-scale nonlinear programs (NLP). The algorithm relies on first-order sens…
Robust Meta-Learning of Vehicle Yaw Rate Dynamics via Conditional Neural Processes
Lars Ullrich, Andreas Völz, Knut Graichen
Trajectory planners of autonomous vehicles usually rely on physical models to predict the vehicle behavior. However, despite their suitability, physical models have some shortcomin…
Sampling for Model Predictive Trajectory Planning in Autonomous Driving using Normalizing Flows
Georg Rabenstein, Lars Ullrich, Knut Graichen
Alongside optimization-based planners, sampling-based approaches are often used in trajectory planning for autonomous driving due to their simplicity. Model predictive path integra…