3 papers
cs.RO2026
Auto-JEPA: A Latent World Model of Continuous Intent for End-to-End Autonomous Driving
Jiwei Yang, Zhengxian Chen, Chaosheng Huang +1
Existing autonomous-driving world models typically perform dense prediction of future videos, occupancy states, BEV representations, or agent motion. We argue that planning need no…
cs.RO2026
SPLIT: Sparse Incremental Learning of Error Dynamics for Control-Oriented Modeling in Autonomous Vehicles
Yaoyu Li, Chaosheng Huang, Jun Li
Accurate, computationally efficient, and adaptive vehicle models are essential for autonomous vehicle control. Hybrid models that combine a nominal model with a Gaussian Process (G…
cs.RO2024
Learning Based MPC for Autonomous Driving Using a Low Dimensional Residual Model
Yaoyu Li, Chaosheng Huang, Dongsheng Yang +2
In this paper, a learning based Model Predictive Control (MPC) using a low dimensional residual model is proposed for autonomous driving. One of the critical challenge in autonomou…