自动驾驶

S4-Driver: Scalable Self-Supervised Driving Multimodal Large Language Modelwith Spatio-Temporal Visual Representation

Yichen Xie, Runsheng Xu, Tong He, Jyh-Jing Hwang, Katie Luo, Jingwei Ji, Hubert Lin, Letian Chen, Yiren Lu, Zhaoqi Leng, Dragomir Anguelov, Mingxing Tan

机构 * UC Berkeley（加州大学伯克利分校） ； Waymo LLC（Waymo公司） ； Cornell University（康奈尔大学） ； Georgia Institute of Technology（佐治亚理工学院） 纠错

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

Comments Accepted by CVPR2025; Project website: s4-driver.github.io

Enhancing Large Vision Model in Street Scene Semantic Understanding through Leveraging Posterior Optimization Trajectory

Wei-Bin Kou, Qingfeng Lin, Ming Tang, Jingreng Lei, Shuai Wang, Rongguang Ye, Guangxu Zhu, Yik-Chung Wu

机构 * Department of Electrical and Electronic Engineering, The University of Hong Kong（香港大学电子与电气工程系） ； Shenzhen Research Institute of Big Data（大数据研究深圳研究所） ； Department of Computer Science and Engineering, Southern University of Science and Technology（南方科技大学计算机科学与工程系） ； Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究所） 纠错

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

Comments 7 pages

Autoregressive Meta-Actions for Unified Controllable Trajectory Generation

Jianbo Zhao, Taiyu Ban, Xiyang Wang, Qibin Zhou, Hangning Zhou, Zhihao Liu, Mu Yang, Lei Liu, Bin Li

机构 * University of Science and Technology of China（中国科学技术大学） ； Mach Drive（驱动科技） 纠错

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

GeoDrive: 3D Geometry-Informed Driving World Model with Precise Action Control

Anthony Chen, Wenzhao Zheng, Yida Wang, Xueyang Zhang, Kun Zhan, Peng Jia, Kurt Keutzer, Shanghang Zhang

机构 * State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（多媒体信息处理国家重点实验室，计算机学院，北京大学） ； Li Auto Inc.（利亚德公司） ； UC Berkeley（加州大学伯克利分校） 纠错

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

Comments code will be released at https://github.com/antonioo-c/GeoDrive

AA-SGAN: Adversarially Augmented Social GAN with Synthetic Data

Mirko Zaffaroni, Federico Signoretta, Marco Grangetto, Attilio Fiandrotti

机构 * Department of Computer Science, University of Turin（计算机科学系，都灵大学） 纠错

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

HAMF: A Hybrid Attention-Mamba Framework for Joint Scene Context Understanding and Future Motion Representation Learning

Xiaodong Mei, Sheng Wang, Jie Cheng, Yingbing Chen, Dan Xu

机构 * Hong Kong University of Science and Technology（香港科技大学） 纠错

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

Comments In submission

Learning-based Autonomous Oversteer Control and Collision Avoidance

Seokjun Lee, Seung-Hyun Kong

机构 * CCS Graduate School of Mobility, Korea Advanced Institute of Science and Technology（移动研究学院、韩国科学技术院） 纠错

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

Programmatic Video Prediction Using Large Language Models

Hao Tang, Kevin Ellis, Suhas Lohit, Michael J. Jones, Moitreya Chatterjee

机构 * Mitsubishi Electric Research Laboratories (MERL)（三菱电机研究实验室（MERL）） 纠错

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

Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions

Matthew Kim, William Sharpless, Hyun Joe Jeong, Sander Tonkens, Somil Bansal, Sylvia Herbert

机构 * University of California, San Diego（加州大学圣地亚哥分校） ； Stanford University（斯坦福大学） 纠错

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

Comments 15 pages, 7 figures

Video-Enhanced Offline Reinforcement Learning: A Model-Based Approach

Minting Pan, Yitao Zheng, Jiajian Li, Yunbo Wang, Xiaokang Yang

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

CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions

Manan Tayal, Aditya Singh, Pushpak Jagtap, Shishir Kolathaya

机构 * Center for Cyber Physical Systems（网络物理系统中心） ； Indian Institute of Science（印度科学研究院） 纠错

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

Comments 17 Pages, 10 Figures. First two authors have contributed equally

Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everything

Huilin Yin, Yangwenhui Xu, Jiaxiang Li, Hao Zhang, Gerhard Rigoll

机构 * College of Electronic and Information Engineering, Tongji University（同济大学电子与信息工程学院） ； Shanghai Institute of Intelligent Science and Technology, Tongji University（同济大学上海智能科学与技术研究院） ； Department of Electrical and Computer Engineering, Technical University of Munich（慕尼黑技术大学电子与计算机工程系） 纠错

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

Semantic Intelligence: Integrating GPT-4 with A Planning in Low-Cost Robotics

Jesse Barkley, Abraham George, Amir Barati Farimani

机构 * Department of Mechanical Engineering, Carnegie Mellon University（机械工程系，卡内基梅隆大学） 纠错

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

Comments 10 pages, 4 figures, 2 tables

Informed Reinforcement Learning for Situation-Aware Traffic Rule Exceptions

Daniel Bogdoll, Jing Qin, Moritz Nekolla, Ahmed Abouelazm, Tim Joseph, J. Marius Zöllner

机构 * FZI Research Center for Information Technology（弗劳恩霍夫信息技术研究中心） ； Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） 纠错

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

Comments Daniel Bogdoll and Jing Qin contributed equally. Accepted for publication at ICRA 2024

Generating Traffic Scenarios via In-Context Learning to Learn Better Motion Planner

Aizierjiang Aiersilan

机构 * Aizierjiang Aiersilan（独立研究者） 纠错

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

Comments We are excited to announce that this paper has been accepted for oral presentation at the AAAI 2025 Main Conference. We are grateful for the insightful feedback from the reviewers and look forward to contributing to the discussions at AAAI

Dynamic Intent Queries for Motion Transformer-based Trajectory Prediction

Tobias Demmler, Lennart Hartung, Andreas Tamke, Thao Dang, Alexander Hegai, Karsten Haug, Lars Mikelsons

机构 * Robert Bosch GmbH（博世公司） ； Institute for Intelligent Systems（智能系统研究所） ； University of Augsburg（奥尔登堡大学） 纠错

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

Localization Meets Uncertainty: Uncertainty-Aware Multi-Modal Localization

Hye-Min Won, Jieun Lee, Jiyong Oh

机构 * Polaris3D 纠错

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

Comments 13 pages, 6 figures

Hybrid Imitation-Learning Motion Planner for Urban Driving

Cristian Gariboldi, Matteo Corno, Beng Jin

机构 * Computer Science and Technology, Xi’an Jiaotong University（计算机科学与技术，西安交通大学） 纠错

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

Comments 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)

Can Vision-Language Models Understand and Interpret Dynamic Gestures from Pedestrians? Pilot Datasets and Exploration Towards Instructive Nonverbal Commands for Cooperative Autonomous Vehicles

Tonko E. W. Bossen, Andreas Møgelmose, Ross Greer

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

GAMDTP: Dynamic Trajectory Prediction with Graph Attention Mamba Network

Yunxiang Liu, Hongkuo Niu, Jianlin Zhu

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

Planning Safety Trajectories with Dual-Phase, Physics-Informed, and Transportation Knowledge-Driven Large Language Models

Rui Gan, Pei Li, Keke Long, Bocheng An, Junwei You, Keshu Wu, Bin Ran

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

RedMotion: Motion Prediction via Redundancy Reduction

Royden Wagner, Omer Sahin Tas, Marvin Klemp, Carlos Fernandez, Christoph Stiller

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

Comments TMLR published version

Journal ref Transactions on Machine Learning Research (05/2024)

DRoPE: Directional Rotary Position Embedding for Efficient Agent Interaction Modeling

Jianbo Zhao, Taiyu Ban, Zhihao Liu, Hangning Zhou, Xiyang Wang, Qibin Zhou, Hailong Qin, Mu Yang, Lei Liu, Bin Li

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

Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets

Atharva Ghotavadekar, František Nekovář, Martin Saska, Jan Faigl

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

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1249-1256, Feb. 2025

Perceptual Motor Learning with Active Inference Framework for Robust Lateral Control

Elahe Delavari, John Moore, Junho Hong, Jaerock Kwon

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

Comments This work has been submitted to IROS 2025 and is currently under review. Supersedes arXiv:2407.07684

Towards Human-Like Driving: Active Inference in Autonomous Vehicle Control

Elahe Delavari, John Moore, Junho Hong, Jaerock Kwon

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

Comments The work is partly supported by a sponsor. Authors need to complete the final report submission before any type of publication according to the sponsor. The final report will be submitted in few weeks. This work has been superseded by arXiv:2503.01676

DriveLMM-o1: A Step-by-Step Reasoning Dataset and Large Multimodal Model for Driving Scenario Understanding

Ayesha Ishaq, Jean Lahoud, Ketan More, Omkar Thawakar, Ritesh Thawkar, Dinura Dissanayake, Noor Ahsan, Yuhao Li, Fahad Shahbaz Khan, Hisham Cholakkal, Ivan Laptev, Rao Muhammad Anwer, Salman Khan

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

Comments 8 pages, 4 figures, 3 tables, github: https://github.com/ayesha-ishaq/DriveLMM-o1

Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs

Ermanno Bartoli, Dennis Rotondi, Kai O. Arras, Iolanda Leite

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

Comments 5 pages, 2 figures, 1 table

Fair Play in the Fast Lane: Integrating Sportsmanship into Autonomous Racing Systems

Zhenmin Huang, Ce Hao, Wei Zhan, Jun Ma, Masayoshi Tomizuka

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

PDB: Not All Drivers Are the Same -- A Personalized Dataset for Understanding Driving Behavior

Chuheng Wei, Ziye Qin, Siyan Li, Ziyan Zhang, Xuanpeng Zhao, Amr Abdelraouf, Rohit Gupta, Kyungtae Han, Matthew J. Barth, Guoyuan Wu

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