7 papers
FlowSim: Rendering-Free Closed-Loop Simulation for Evaluating End-to-End Driving Systems
Hanfeng Wu, Alvaro Marcos-Ramiro, Michael Schmidt +1
Closed-loop evaluation of end-to-end (E2E) driving systems typically relies on generating sensor observations and re-processing them through the perception encoder, introducing sub…
Prediction-Driven Motion Planning: Route Integration Strategies in Attention-Based Prediction Models
Marlon Steiner, Royden Wagner, Ömer Sahin Tas +1
Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this int…
Closing the Navigation Compliance Gap in End-to-end Autonomous Driving
Hanfeng Wu, Marlon Steiner, Michael Schmidt +2
Trajectory-scoring planners achieve high navigation compliance when following the expert's original command, yet they struggle at intersections when presented with alternative comm…
Polynomial Optimization via Random Projection and Consensus
Etienne Buehrle, Christoph Stiller
We propose a black-box approach to reducing large semidefinite programs to a set of smaller semidefinite programs by projecting to random linear subspaces. We evaluate our method o…
Stochastic Optimal Control via Measure Relaxations
Etienne Buehrle, Christoph Stiller
The optimal control problem of stochastic systems is commonly solved via robust or scenario-based optimization methods, which are both challenging to scale to long optimization hor…
FlowDrive: moderated flow matching with data balancing for trajectory planning
Lingguang Wang, Ömer Şahin Taş, Marlon Steiner +1
Learning-based planners are sensitive to the long-tailed distribution of driving data. Common maneuvers dominate datasets, while dangerous or rare scenarios are sparse. This imbala…
Optimal Control of Hybrid Systems via Measure Relaxations
Etienne Buehrle, Ömer Şahin Taş, Christoph Stiller
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with…