8 papers
Cartender: Verifiable Language-Conditioned Driving by Learning the Drives Not Taken
Zhiwen Chen, Benjin Zhu, Yan Xie +1
Every driving scene is logged once, but driving is one-to-many: the scene determines which behaviors are feasible, while an instruction selects among them. A log records only the a…
Learning Reliable Parking Policies via Offline Reinforcement Learning with Quantized Action Representations
Zewei Yang, Zengqi Peng, Jun Ma
Parking is a routine yet safety-critical task for autonomous vehicles operating in urban environments. However, cluttered and weakly structured parking spaces, compounded by the in…
SocialTraj: Two-Stage Socially-Aware Trajectory Prediction for Autonomous Driving via Conditional Diffusion Model
Xiao Zhou, Zengqi Peng, Jun Ma
Accurate trajectory prediction of surrounding vehicles (SVs) is crucial for autonomous driving systems to avoid misguided decisions and potential accidents. However, achieving reli…
Orchestrate, Generate, Reflect: A VLM-Based Multi-Agent Collaboration Framework for Automated Driving Policy Learning
Zengqi Peng, Yusen Xie, Yubin Wang +3
The advancement of foundation models fosters new initiatives for policy learning in achieving safe and efficient autonomous driving. However, a critical bottleneck lies in the manu…
SEG-Parking: Towards Safe, Efficient, and Generalizable Autonomous Parking via End-to-End Offline Reinforcement Learning
Zewei Yang, Zengqi Peng, Jun Ma
Autonomous parking is a critical component for achieving safe and efficient urban autonomous driving. However, unstructured environments and dynamic interactions pose significant c…
Integrating Decision-Making Into Differentiable Optimization Guided Learning for End-to-End Planning of Autonomous Vehicles
Wenru Liu, Yongkang Song, Chengzhen Meng +4
We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we form…
Integrated Intention Prediction and Decision-Making with Spectrum Attention Net and Proximal Policy Optimization
Xiao Zhou, Chengzhen Meng, Wenru Liu +3
For autonomous driving in highly dynamic environments, it is anticipated to predict the future behaviors of surrounding vehicles (SVs) and make safe and effective decisions. Howeve…
RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment
Ren Xin, Sheng Wang, Yingbing Chen +3
Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developin…