8 papers · 1 filter
X4Val: Learning Neural Surrogates for Variance-Reduced Policy Evaluation
Rachel Luo, Michael Watson, Apoorva Sharma +6
Rigorous evaluation of learning-based robotic systems is an essential prerequisite for deployment. However, real-world test data is expensive to gather; moreover, in a typical iter…
The Case for Negative Data: From Crash Reports to Counterfactuals for Reasonable Driving
Jay Patrikar, Apoorva Sharma, Sushant Veer +3
Learning-based autonomous driving systems are trained mostly on incident-free data, offering little guidance near safety-performance boundaries. Real crash reports contain precisel…
Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation
Rachel Luo, Heng Yang, Michael Watson +4
Learning-based robotic systems demand rigorous validation to assure reliable performance, but extensive real-world testing is often prohibitively expensive, and if conducted may st…
Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators
Kaustav Chakraborty, Zeyuan Feng, Sushant Veer +6
The advent of end-to-end autonomy stacks - often lacking interpretable intermediate modules - has placed an increased burden on ensuring that the final output, i.e., the motion pla…
RealDrive: Retrieval-Augmented Driving with Diffusion Models
Wenhao Ding, Sushant Veer, Yuxiao Chen +3
Learning-based planners generate natural human-like driving behaviors by learning to reason about nuanced interactions from data, overcoming the rigid behaviors that arise from rul…
Online Aggregation of Trajectory Predictors
Alex Tong, Apoorva Sharma, Sushant Veer +2
Trajectory prediction, the task of forecasting future agent behavior from past data, is central to safe and efficient autonomous driving. A diverse set of methods (e.g., rule-based…