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cs.RO2026
RLFTSim: Realistic and Controllable Multi-Agent Traffic Simulation via Reinforcement Learning Fine-Tuning
Ehsan Ahmadi, Hunter Schofield, Behzad Khamidehi +5
Supervised open-loop training has been widely adopted for training traffic simulation models; however, it fails to capture the inherently dynamic, multi-agent interactions common i…
cs.RO2025
Getting SMARTER for Motion Planning in Autonomous Driving Systems
Montgomery Alban, Ehsan Ahmadi, Randy Goebel +1
Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-wor…
cs.RO2024
Curb Your Attention: Causal Attention Gating for Robust Trajectory Prediction in Autonomous Driving
Ehsan Ahmadi, Ray Mercurius, Soheil Alizadeh +2
Trajectory prediction models in autonomous driving are vulnerable to perturbations from non-causal agents whose actions should not affect the ego-agent's behavior. Such perturbatio…