5 papers
SCORP: Scene-Consistent Multi-agent Diffusion Planning with Stable Online Reinforcement Post-Training for Cooperative Driving
Haojie Bai, Aimin Li, Ruoyu Yao +5
Cooperative driving is a safety- and efficiency-critical task that requires the coordination of diverse, interaction-realistic multi-agent trajectories. Although existing diffusion…
Robust Real-Time Coordination of CAVs: A Distributed Optimization Framework under Uncertainty
Haojie Bai, Tingting Zhang, Cong Guo +3
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments.…
TripleMixer: A 3D Point Cloud Denoising Model for Adverse Weather
Xiongwei Zhao, Congcong Wen, Xu Zhu +3
Adverse weather conditions such as snow, fog, and rain pose significant challenges to LiDAR-based perception models by introducing noise and corrupting point cloud measurements. To…
A Robust Cooperative Vehicle Coordination Framework for Intersection Crossing
Haojie Bai, Jiping Luo, Huafu Li +2
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantage…
An Iterative Task-Driven Framework for Resilient LiDAR Place Recognition in Adverse Weather
Xiongwei Zhao, Xieyuanli Chen, Xu Zhu +5
LiDAR place recognition (LPR) plays a vital role in autonomous navigation. However, existing LPR methods struggle to maintain robustness under adverse weather conditions such as ra…