5 papers
PANDA: A Matrix-Free Differentiable NMPC Solver via Proximal Averaged Quasi-Newton with Adaptive Linesearch Algorithm
Yuankun Chen, Zifei Nie, Xun Gong +2
Differentiable nonlinear model predictive control (NMPC) provides a principled way to embed optimal control structure into end-to-end learning paradigms, but its practical use is o…
Open-Ended Instruction Realization with LLM-Enabled Multi-Planner Scheduling in Autonomous Vehicles
Jiawei Liu, Xun Gong, Fen Fang +6
Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translat…
A Gauss-Newton-Induced Structure-Exploiting Algorithm for Differentiable Optimal Control
Yuankun Chen, Zifei Nie, Xun Gong +2
Differentiable optimal control, particularly differentiable nonlinear model predictive control (NMPC), provides a powerful framework that enjoys the complementary benefits of machi…
From Failures to Fixes: LLM-Driven Scenario Repair for Self-Evolving Autonomous Driving
Xinyu Xia, Xingjun Ma, Yunfeng Hu +3
Ensuring robust and generalizable autonomous driving requires not only broad scenario coverage but also efficient repair of failure cases, particularly those related to challenging…
Adversarial Driving Behavior Generation Incorporating Human Risk Cognition for Autonomous Vehicle Evaluation
Zhen Liu, Hang Gao, Hao Ma +5
Autonomous vehicle (AV) evaluation has been the subject of increased interest in recent years both in industry and in academia. This paper focuses on the development of a novel fra…