6 citations · 8 across the 9 of their papers we have counts for
10 papers
Guiding End-to-End Driving Models with Endpoint-Constrained Trajectory Optimization
Brayden Zhang, Mahsa Golchoubian, Igor Gilitschenski +2
End-to-end driving policies are commonly trained through open-loop behavior cloning, yet they must ultimately operate in closed-loop when deployed on a vehicle, creating a fundamen…
Update-Free On-Policy Steering via Verifiers
Maria Attarian, Ian Vyse, Jasper Gerigk +7
In recent years, Behavior Cloning (BC) has become one of the most prevalent methods for learning manipulation from human demonstrations. Despite their successes, BC policies are of…
The Impact of Class Uncertainty Propagation in Perception-Based Motion Planning
Jibran Iqbal Shah, Andrei Ivanovic, Kelly Zhu +4
Autonomous vehicles (AVs) are being increasingly deployed in urban environments. In order to operate safely and reliably, AVs need to account for the inherent uncertainty associate…
Delving into Mapping Uncertainty for Mapless Trajectory Prediction
Zongzheng Zhang, Xuchong Qiu, Boran Zhang +11
Recent advances in autonomous driving are moving towards mapless approaches, where High-Definition (HD) maps are generated online directly from sensor data, reducing the need for e…
AGENTS-LLM: Augmentative GENeration of Challenging Traffic Scenarios with an Agentic LLM Framework
Yu Yao, Salil Bhatnagar, Markus Mazzola +5
Rare, yet critical, scenarios pose a significant challenge in testing and evaluating autonomous driving planners. Relying solely on real-world driving scenes requires collecting ma…
Pseudo-Simulation for Autonomous Driving
Wei Cao, Marcel Hallgarten, Tianyu Li +11
Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibili…
Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention
Xunjiang Gu, Guanyu Song, Igor Gilitschenski +2
Understanding road geometry is a critical component of the autonomous vehicle (AV) stack. While high-definition (HD) maps can readily provide such information, they suffer from hig…
NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking
Daniel Dauner, Marcel Hallgarten, Tianyu Li +9
Benchmarking vision-based driving policies is challenging. On one hand, open-loop evaluation with real data is easy, but these results do not reflect closed-loop performance. On th…
Producing and Leveraging Online Map Uncertainty in Trajectory Prediction
Xunjiang Gu, Guanyu Song, Igor Gilitschenski +2
High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a…
trajdata: A Unified Interface to Multiple Human Trajectory Datasets
Boris Ivanovic, Guanyu Song, Igor Gilitschenski +1
The field of trajectory forecasting has grown significantly in recent years, partially owing to the release of numerous large-scale, real-world human trajectory datasets for autono…