1 citations · 1 across the 7 of their papers we have counts for
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GR2PO: Group Relative Return Policy Optimization for Continuous Robot Control
Pengqin Wang, Qiming Zhang, Shaojie Shen +1
Actor-critic architecture has been widely used in continuous robot control. However, they rely on learning a value network, introducing additional computational overhead during tra…
Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future
Tianshuai Hu, Xiaolu Liu, Song Wang +17
Autonomous driving has long relied on modular "Perception-Decision-Action" pipelines, where hand-crafted interfaces and rule-based components often break down in complex or long-ta…
Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties
Zhenmin Huang, Yusen Xie, Benshan Ma +2
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions am…
Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving
Yusen Xie, Zhengmin Huang, Shaojie Shen +1
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consi…
CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems
Haichao Liu, Ruoyu Yao, Wenru Liu +3
The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particular…
Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach
Zhenmin Huang, Tong Li, Shaojie Shen +1
Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-mo…
LMMCoDrive: Cooperative Driving with Large Multimodal Model
Haichao Liu, Ruoyu Yao, Zhenmin Huang +2
To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a…
Multi-modal Integrated Prediction and Decision-making with Adaptive Interaction Modality Explorations
Tong Li, Lu Zhang, Sikang Liu +1
Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions…
Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication
Haichao Liu, Zhenmin Huang, Zicheng Zhu +3
This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of h…
A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles with Generic Road Topologies
Zhenmin Huang, Shaojie Shen, Jun Ma
Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics,…