自动驾驶

Multi-Timescale Hierarchical Reinforcement Learning for Unified Behavior and Control of Autonomous Driving

多尺度分层强化学习用于自动驾驶的统一行为与控制

Guizhe Jin, Zhuoren Li, Bo Leng, Ran Yu, Lu Xiong, Chen Sun

机构 * School of Automotive Studies, Tongji University（同济大学汽车学院） ； Department of Data and Systems Engineering, University of Hong Kong（香港大学数据与系统工程系） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

AI总结 本文提出多尺度分层强化学习方法，通过分层策略结构统一生成运动引导和控制指令，提升自动驾驶的效率、一致性和安全性。

Comments 8 pages, accepted for publication in IEEE Robotics and Automation Letters (RAL)

ExpertAD: Enhancing Autonomous Driving Systems with Mixture of Experts

Haowen Jiang, Xinyu Huang, You Lu, Dingji Wang, Yuheng Cao, Chaofeng Sha, Bihuan Chen, Keyu Chen, Xin Peng

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments The paper has been accepted by the Fortieth AAAI Conference on Artificial Intelligence. AAAI 2026

Social LSTM with Dynamic Occupancy Modeling for Realistic Pedestrian Trajectory Prediction

Ahmed Alia, Mohcine Chraibi, Armin Seyfried

专题命中 规划控制 ：occupancy(title,abstract)；分类 cs.CV、cs.AI

Comments 19 pages, 9 figures, 4 tables

Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling

Tianyi Tan, Yinan Zheng, Ruiming Liang, Zexu Wang, Kexin Zheng, Jinliang Zheng, Jianxiong Li, Xianyuan Zhan, Jingjing Liu

机构 * Institute for AI Industry Research (AIR), Tsinghua University（人工智能产业研究所（AIR），清华大学） ； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； The Chinese University of Hong Kong（香港中文大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments 26 pages, 6 figures. Accepted at NeurIPS 2025

Align2Act: Instruction-Tuned Models for Human-Aligned Autonomous Driving

Kanishkha Jaisankar, Sunidhi Tandel

机构 * New York University（纽约大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Discrete Diffusion for Reflective Vision-Language-Action Models in Autonomous Driving

Pengxiang Li, Yinan Zheng, Yue Wang, Huimin Wang, Hang Zhao, Jingjing Liu, Xianyuan Zhan, Kun Zhan, Xianpeng Lang

机构 * LiAuto ； Tsinghua University（清华大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Towards Bio-Inspired Robotic Trajectory Planning via Self-Supervised RNN

Miroslav Cibula, Kristína Malinovská, Matthias Kerzel

机构 * Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava（数学、物理与信息学系，科门尼乌斯大学布拉迪斯拉发分校） ； Department of Informatics, University of Hamburg（信息学系，汉堡大学） 纠错

专题命中 规划控制 ：trajectory planning(title,abstract)；分类 cs.RO、cs.AI

Comments 12 pages, 4 figures, 2 tables. To be published in 2025 International Conference on Artificial Neural Networks (ICANN) proceedings. This research was funded by the Horizon Europe project TERAIS, GA no. 101079338, and in part by the Slovak Grant Agency for Science (VEGA), project 1/0373/23. The code can be found at https://doi.org/10.5281/zenodo.17127997

Journal ref In Artificial Neural Networks and Machine Learning. ICANN 2025 International Workshops and Special Sessions (pp. 149--160). Springer Nature Switzerland

Large Foundation Models for Trajectory Prediction in Autonomous Driving: A Comprehensive Survey

Wei Dai, Shengen Wu, Wei Wu, Zhenhao Wang, Sisuo Lyu, Haicheng Liao, Limin Yu, Weiping Ding, Runwei Guan, Yutao Yue

机构 * Department of Mathematical Sciences, School of Physical sciences, University of Liverpool（利物浦大学数学科学系） ； Department of Communications and Networking, School of Advanced Technology, Xi’an Jiaotong-Liverpool University（西安交通大学利物浦大学通讯与网络系） ； Thrust of Artificial Intelligence, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）人工智能方向） ； Deep Interdisciplinary Intelligence Lab, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）深度跨学科智能实验室） ； School of Mathematics and Statistics, Shandong University（山东大学数学与统计学院） ； School of Artificial Intelligence and Computer Science, Nantong University（南通大学人工智能与计算机科学学院） ； Thrust of Data Science and Analytics, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）数据科学与分析方向） ； Institute of Deep Perception Technology, Jiangsu（江苏深度感知技术研究院） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments 22 pages, 6 figures

Efficient Virtuoso: A Latent Diffusion Transformer Model for Goal-Conditioned Trajectory Planning

Antonio Guillen-Perez

机构 * Independent Researcher（独立研究者） 纠错

专题命中 规划控制 ：trajectory planning(title,abstract)；分类 cs.RO、cs.AI

RoboTron-Drive: All-in-One Large Multimodal Model for Autonomous Driving

Zhijian Huang, Chengjian Feng, Feng Yan, Baihui Xiao, Zequn Jie, Yujie Zhong, Xiaodan Liang, Lin Ma

机构 * Shenzhen Campus of Sun Yat-sen University（中山大学深圳校区） ； Meituan（美团） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments ICCV 2025

Reinforced Imitative Trajectory Planning for Urban Automated Driving

Di Zeng, Ling Zheng, Xiantong Yang, Yinong Li

专题命中 规划控制 ：trajectory planning(title,abstract)；分类 cs.RO、cs.AI

Comments 21 pages, 9 figures

Consistency Trajectory Planning: High-Quality and Efficient Trajectory Optimization for Offline Model-Based Reinforcement Learning

Guanquan Wang, Takuya Hiraoka, Yoshimasa Tsuruoka

机构 * Department of Information and Communication Engineering（信息与通信工程系） ； The University of Tokyo（东京大学） ； NEC Corporation（日本电装公司） 纠错

专题命中 规划控制 ：trajectory planning(title,abstract)；分类 cs.RO、cs.AI

Comparison of Path Planning Algorithms for Autonomous Vehicle Navigation Using Satellite and Airborne LiDAR Data

Chang Liu, Zhexiong Xue, Tamas Sziranyi

专题命中 规划控制 ：LiDAR(title,abstract)；分类 cs.RO、cs.AI

Comments 6 pages, 3 figures, 67th International Symposium ELMAR-2025 15-17 September 2025 Zadar, Croatia

LeAD: The LLM Enhanced Planning System Converged with End-to-end Autonomous Driving

Yuhang Zhang, Jiaqi Liu, Chengkai Xu, Peng Hang, Jian Sun

机构 * College of Transportation, Tongji University（同济大学交通运输学院） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Action Space Reduction Strategies for Reinforcement Learning in Autonomous Driving

Elahe Delavari, Feeza Khan Khanzada, Jaerock Kwon

机构 * Electrical and Computer Engineering（电气与计算机工程） ； University of Michigan–Dearborn（密歇根大学-迪尔伯恩分校） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

STCLocker: Deadlock Avoidance Testing for Autonomous Driving Systems

Mingfei Cheng, Renzhi Wang, Xiaofei Xie, Yuan Zhou, Lei Ma

机构 * Singapore Management University（新加坡国立大学） ； University of Alberta（阿尔伯塔大学） ； Zhejiang Sci-Tech University（浙江科技学院） ； The University of Tokyo（东京大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Drive-R1: Bridging Reasoning and Planning in VLMs for Autonomous Driving with Reinforcement Learning

Yue Li, Meng Tian, Dechang Zhu, Jiangtong Zhu, Zhenyu Lin, Zhiwei Xiong, Xinhai Zhao

机构 * University of Science and Technology of China（中国科学技术大学） ； Huawei Noah’s Ark Lab（华为诺亚实验室） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Confidence-Guided Human-AI Collaboration: Reinforcement Learning with Distributional Proxy Value Propagation for Autonomous Driving

Li Zeqiao, Wang Yijing, Wang Haoyu, Li Zheng, Li Peng, Zuo zhiqiang, Hu Chuan

机构 * Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University（天津智能无人群技术与系统重点实验室，电气与信息工程学院，天津大学） ； Key Laboratory of System Control and Information Processing, Ministry of Education of China（系统控制与信息处理重点实验室，中华人民共和国教育部） ； School of Mechanical Engineering, Shanghai Jiao Tong University（机械工程学院，上海交通大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Towards Human-Like Trajectory Prediction for Autonomous Driving: A Behavior-Centric Approach

Haicheng Liao, Zhenning Li, Guohui Zhang, Keqiang Li, Chengzhong Xu

机构 * State Key Laboratory of Internet of Things for Smart City and Department of Computer and Information Science, University of Macau（物联网智能城市国家重点实验室和澳门大学计算机与信息科学系） ； State Key Laboratory of Internet of Things for Smart City and Departments of Civil and Environmental Engineering and Computer and Information Science, University of Macau（物联网智能城市国家重点实验室和澳门大学土木与环境工程系、计算机与信息科学系） ； Department of Civil and Environmental Engineering, University of Hawaii at Manoa（夏威夷大学马诺阿分校土木与环境工程系） ； School of Vehicle and Mobility, Tsinghua University, Beijing, China（清华大学车辆与移动技术学院） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Manipulating Elasto-Plastic Objects With 3D Occupancy and Learning-Based Predictive Control

Zhen Zhang, Xiangyu Chu, Yunxi Tang, Lulu Zhao, Jing Huang, Zhongliang Jiang, K. W. Samuel Au

机构 * Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China（香港中文大学机械与自动化工程系） ； Multi-scale Medical Robotics Center, Hong Kong SAR, China（香港特别行政区多尺度医疗机器人中心） ； School of Artificial Intelligence, Beijing Normal University, China（北京师范大学人工智能学院） ； Computer Aided Medical Procedures, Technical University of Munich, Germany（慕尼黑技术大学计算机辅助医疗程序） 纠错

专题命中 规划控制 ：occupancy(title,abstract)；分类 cs.RO、cs.AI

Comments 8 Pages, 13 figures, accepted for publication in IEEE Robotics and Automation Letters (RA-L)

Human-like Semantic Navigation for Autonomous Driving using Knowledge Representation and Large Language Models

Augusto Luis Ballardini, Miguel Ángel Sotelo

机构 * Computer Engineering Department, University of Alcalá（阿尔卡拉大学计算机工程系） 纠错

专题命中 规划控制 ：autonomous driving(title)；self-driving(abstract)；分类 cs.RO、cs.AI

Comments 7 pages, 5 figures, submitted for IEEE conference

Robust Planning for Autonomous Driving via Mixed Adversarial Diffusion Predictions

Albert Zhao, Stefano Soatto

机构 * Samueli School of Engineering, Computer Science Department, University of California, Los Angeles（加州大学洛杉矶分校计算机科学系桑德利学校） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments IEEE International Conference on Robotics and Automation (ICRA) 2025

Beyond Patterns: Harnessing Causal Logic for Autonomous Driving Trajectory Prediction

Bonan Wang, Haicheng Liao, Chengyue Wang, Bin Rao, Yanchen Guan, Guyang Yu, Jiaxun Zhang, Songning Lai, Chengzhong Xu, Zhenning Li

机构 * University of Macau（澳门大学） ； The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Journal ref IJCAI 2025

End-To-End Planning of Autonomous Driving in Industry and Academia: 2022-2023

Gongjin Lan, Qi Hao

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments This is a draft and not ready to be public. There are many errors

Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models

Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam, Haotong Qin, Lei Xie, Michele Magno, Luca Benini

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Hierarchically Encapsulated Representation for Protocol Design in Self-Driving Labs

Yu-Zhe Shi, Mingchen Liu, Fanxu Meng, Qiao Xu, Zhangqian Bi, Kun He, Lecheng Ruan, Qining Wang

专题命中 规划控制 ：self-driving(title,abstract)；分类 cs.RO、cs.AI

Comments In International Conference on Learning Representations (ICLR'25)

CoLMDriver: LLM-based Negotiation Benefits Cooperative Autonomous Driving

Changxing Liu, Genjia Liu, Zijun Wang, Jinchang Yang, Siheng Chen

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.CV、cs.AI

AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoning

Bo Jiang, Shaoyu Chen, Qian Zhang, Wenyu Liu, Xinggang Wang

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments Project Page: https://github.com/hustvl/AlphaDrive

Minds on the Move: Decoding Trajectory Prediction in Autonomous Driving with Cognitive Insights

Haicheng Liao, Chengyue Wang, Kaiqun Zhu, Yilong Ren, Bolin Gao, Shengbo Eben Li, Chengzhong Xu, Zhenning Li

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

InVDriver: Intra-Instance Aware Vectorized Query-Based Autonomous Driving Transformer

Bo Zhang, Heye Huang, Chunyang Liu, Yaqin Zhang, Zhenhua Xu

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments Submitted to JICV (Journal of Intelligent and Connected Vehicles)