13 citations · 26 across the 14 of their papers we have counts for
15 papers
Dynamic Neural Koopman Distillation for Fast Robot Control Using Diffusion Models
Lei Zheng, Peiqi Yu, Zengqi Peng +2
Diffusion models excel at generating diverse, multimodal trajectories for robotic control, yet their iterative denoising process introduces latency that can constrain real-time clo…
DualShield: Safe Model Predictive Diffusion via Reachability Analysis for Interactive Autonomous Driving
Rui Yang, Lei Zheng, Ruoyu Yao +1
Diffusion models have emerged as a powerful approach for multimodal motion planning in autonomous driving. However, their practical deployment is typically hindered by the inherent…
Contingency Planning for Safety-Critical Autonomous Vehicles: A Review and Perspectives
Lei Zheng, Luyao Zhang, Peiqi Yu +4
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adv…
Safe and Nonconservative Contingency Planning for Autonomous Vehicles via Online Learning-Based Reachable Set Barriers
Rui Yang, Lei Zheng, Shuzhi Sam Ge +1
Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV)…
Occlusion-Aware Consistent Model Predictive Control for Robot Navigation in Occluded Obstacle-Dense Environments
Minzhe Zheng, Lei Zheng, Lei Zhu +1
Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-awar…
Bilevel Multi-Armed Bandit-Based Hierarchical Reinforcement Learning for Interaction-Aware Self-Driving at Unsignalized Intersections
Zengqi Peng, Yubin Wang, Lei Zheng +1
In this work, we present BiM-ACPPO, a bilevel multi-armed bandit-based hierarchical reinforcement learning framework for interaction-aware decision-making and planning at unsignali…
Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Driving
Lei Zheng, Rui Yang, Minzhe Zheng +3
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-awa…
LearningFlow: Automated Policy Learning Workflow for Urban Driving with Large Language Models
Zengqi Peng, Yubin Wang, Xu Han +2
Recent advancements in reinforcement learning (RL) demonstrate the significant potential in autonomous driving. Despite this promise, challenges such as the manual design of reward…
Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles
Wenru Liu, Haichao Liu, Lei Zheng +2
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning ta…
Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization
Lei Zheng, Rui Yang, Minzhe Zheng +2
Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel…
Incremental Bayesian Learning for Fail-Operational Control in Autonomous Driving
Lei Zheng, Rui Yang, Zengqi Peng +3
Abrupt maneuvers by surrounding vehicles (SVs) can typically lead to safety concerns and affect the task efficiency of the ego vehicle (EV), especially with model uncertainties ste…
Reward-Driven Automated Curriculum Learning for Interaction-Aware Self-Driving at Unsignalized Intersections
Zengqi Peng, Xiao Zhou, Lei Zheng +2
In this work, we present a reward-driven automated curriculum reinforcement learning approach for interaction-aware self-driving at unsignalized intersections, taking into account…
Barrier-Enhanced Parallel Homotopic Trajectory Optimization for Safety-Critical Autonomous Driving
Lei Zheng, Rui Yang, Michael Yu Wang +1
Enforcing safety while preventing overly conservative behaviors is essential for autonomous vehicles to achieve high task performance. In this paper, we propose a barrier-enhanced…
Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic
Lei Zheng, Rui Yang, Zengqi Peng +3
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffi…
Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Autonomous Driving in Dense Traffic
Lei Zheng, Rui Yang, Zengqi Peng +2
In dense traffic scenarios, ensuring safety while keeping high task performance for autonomous driving is a critical challenge. To address this problem, this paper proposes a compu…