Masayoshi Tomizuka

A Safe Hierarchical Planning Framework for Complex Driving Scenarios based on Reinforcement Learning

Autonomous vehicles need to handle various traffic conditions and make s...
01/17/2021 ∙ by Jinning Li, et al. ∙ 0 ∙ share

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Interaction-Aware Behavior Planning for Autonomous Vehicles Validated with Real Traffic Data

Autonomous vehicles (AVs) need to interact with other traffic participan...
01/15/2021 ∙ by Jinning Li, et al. ∙ 0 ∙ share

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Labels Are Not Perfect: Inferring Spatial Uncertainty in Object Detection

The availability of many real-world driving datasets is a key reason beh...
12/18/2020 ∙ by Di Feng, et al. ∙ 13 ∙ share

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Sparse R-CNN: End-to-End Object Detection with Learnable Proposals

We present Sparse R-CNN, a purely sparse method for object detection in ...
11/25/2020 ∙ by Peize Sun, et al. ∙ 0 ∙ share

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Prediction-Based Reachability for Collision Avoidance in Autonomous Driving

Safety is an important topic in autonomous driving since any collision m...
11/24/2020 ∙ by Anjian Li, et al. ∙ 0 ∙ share

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COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing

General contact-rich manipulation problems are long-standing challenges ...
11/23/2020 ∙ by Zhuo Xu, et al. ∙ 0 ∙ share

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Learning Dense Rewards for Contact-Rich Manipulation Tasks

Rewards play a crucial role in reinforcement learning. To arrive at the ...
11/17/2020 ∙ by Zheng Wu, et al. ∙ 0 ∙ share

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IDE-Net: Interactive Driving Event and Pattern Extraction from Human Data

Autonomous vehicles (AVs) need to share the road with multiple, heteroge...
11/04/2020 ∙ by Xiaosong Jia, et al. ∙ 0 ∙ share

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Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving

In the context of autonomous driving, the iterative linear quadratic reg...
11/01/2020 ∙ by Jun Ma, et al. ∙ 0 ∙ share

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Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human Data

As more and more autonomous vehicles (AVs) are being deployed on public ...
10/28/2020 ∙ by Letian Wang, et al. ∙ 0 ∙ share

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Bounded Risk-Sensitive Markov Game and Its Inverse Reward Learning Problem

Classical game-theoretic approaches for multi-agent systems in both the ...
09/03/2020 ∙ by Ran Tian, et al. ∙ 12 ∙ share

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Expressing Diverse Human Driving Behavior with Probabilistic Rewards and Online Inference

In human-robot interaction (HRI) systems, such as autonomous vehicles, u...
08/20/2020 ∙ by Liting Sun, et al. ∙ 0 ∙ share

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Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System

The performance achieved with traditional model-based control system des...
07/06/2020 ∙ by Xiaocong Li, et al. ∙ 0 ∙ share

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Towards Better Performance and More Explainable Uncertainty for 3D Object Detection of Autonomous Vehicles

In this paper, we propose a novel form of the loss function to increase ...
06/22/2020 ∙ by Hujie Pan, et al. ∙ 0 ∙ share

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Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning with Application to Autonomous Driving

In the past decades, we have witnessed significant progress in the domai...
06/22/2020 ∙ by Zheng Wu, et al. ∙ 0 ∙ share

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In Proximity of ReLU DNN, PWA Function, and Explicit MPC

Rectifier (ReLU) deep neural networks (DNN) and their connection with pi...
06/09/2020 ∙ by Saman Fahandezh-Saadi, et al. ∙ 0 ∙ share

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Visual Transformers: Token-based Image Representation and Processing for Computer Vision

Computer vision has achieved great success using standardized image repr...
06/05/2020 ∙ by Bichen Wu, et al. ∙ 23 ∙ share

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Cascade Attribute Network: Decomposing Reinforcement Learning Control Policies using Hierarchical Neural Networks

Reinforcement learning methods have been developed to achieve great succ...
05/07/2020 ∙ by Haonan Chang, et al. ∙ 0 ∙ share

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Guided Policy Search Model-based Reinforcement Learning for Urban Autonomous Driving

In this paper, we continue our prior work on using imitation learning (I...
05/06/2020 ∙ by Zhuo Xu, et al. ∙ 0 ∙ share

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Scenario-Transferable Semantic Graph Reasoning for Interaction-Aware Probabilistic Prediction

Accurately predicting the possible behaviors of traffic participants is ...
04/07/2020 ∙ by Yeping Hu, et al. ∙ 0 ∙ share

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SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentation

LiDAR point-cloud segmentation is an important problem for many applicat...
04/03/2020 ∙ by Chenfeng Xu, et al. ∙ 4 ∙ share

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EvolveGraph: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction with Evolving Interaction Graphs

Multi-agent interacting systems are prevalent in the world, from pure ph...
03/31/2020 ∙ by Jiachen Li, et al. ∙ 10 ∙ share

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End-to-end Autonomous Driving Perception with Sequential Latent Representation Learning

Current autonomous driving systems are composed of a perception system a...
03/21/2020 ∙ by Jianyu Chen, et al. ∙ 0 ∙ share

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Inferring Spatial Uncertainty in Object Detection

The availability of real-world datasets is the prerequisite to develop o...
03/07/2020 ∙ by Zining Wang, et al. ∙ 9 ∙ share

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Social-WaGDAT: Interaction-aware Trajectory Prediction via Wasserstein Graph Double-Attention Network

Effective understanding of the environment and accurate trajectory predi...
02/14/2020 ∙ by Jiachen Li, et al. ∙ 7 ∙ share

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Experimental Evaluation of Human Motion Prediction: Toward Safe and Efficient Human Robot Collaboration

Human motion prediction is non-trivial in modern industrial settings. Ac...
01/27/2020 ∙ by Weiye Zhao, et al. ∙ 0 ∙ share

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Interpretable End-to-end Urban Autonomous Driving with Latent Deep Reinforcement Learning

Unlike popular modularized framework, end-to-end autonomous driving seek...
01/23/2020 ∙ by Jianyu Chen, et al. ∙ 38 ∙ share

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AutoScale: Learning to Scale for Crowd Counting

Crowd counting in images is a widely explored but challenging task. Thou...
12/20/2019 ∙ by Chenfeng Xu, et al. ∙ 13 ∙ share

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UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

Mapping and localization is a critical module of autonomous driving, and...
12/19/2019 ∙ by Weisong Wen, et al. ∙ 19 ∙ share

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Robust Feature-Based Point Registration Using Directional Mixture Model

This paper presents a robust probabilistic point registration method for...
11/25/2019 ∙ by Saman Fahandezh-Saadi, et al. ∙ 0 ∙ share

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Adaptive Probabilistic Vehicle Trajectory Prediction Through Physically Feasible Bayesian Recurrent Neural Network

Probabilistic vehicle trajectory prediction is essential for robust safe...
11/11/2019 ∙ by Chen Tang, et al. ∙ 0 ∙ share

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Multiple criteria decision-making for lane-change model

Simulation has long been an essential part of testing autonomous driving...
10/22/2019 ∙ by Ao Li, et al. ∙ 0 ∙ share

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Online Learning in Planar Pushing with Combined Prediction Model

Pushing is a useful robotic capability for positioning and reorienting o...
10/17/2019 ∙ by Huidong Gao, et al. ∙ 0 ∙ share

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INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps

Behavior-related research areas such as motion prediction/planning, repr...
09/30/2019 ∙ by Wei Zhan, et al. ∙ 19 ∙ share

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Generic Tracking and Probabilistic Prediction Framework and Its Application in Autonomous Driving

Accurately tracking and predicting behaviors of surrounding objects are ...
08/23/2019 ∙ by Jiachen Li, et al. ∙ 9 ∙ share

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Generic Prediction Architecture Considering both Rational and Irrational Driving Behaviors

Accurately predicting future behaviors of surrounding vehicles is an ess...
07/23/2019 ∙ by Yeping Hu, et al. ∙ 0 ∙ share

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Interpretable Modelling of Driving Behaviors in Interactive Driving Scenarios based on Cumulative Prospect Theory

Understanding human driving behavior is important for autonomous vehicle...
07/19/2019 ∙ by Liting Sun, et al. ∙ 0 ∙ share

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Conditional Generative Neural System for Probabilistic Trajectory Prediction

Effective understanding of the environment and accurate trajectory predi...
05/05/2019 ∙ by Jiachen Li, et al. ∙ 0 ∙ share

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Behavior Planning of Autonomous Cars with Social Perception

Autonomous cars have to navigate in dynamic environment which can be ful...
05/02/2019 ∙ by Liting Sun, et al. ∙ 0 ∙ share

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Coordination and Trajectory Prediction for Vehicle Interactions via Bayesian Generative Modeling

Coordination recognition and subtle pattern prediction of future traject...
05/02/2019 ∙ by Jiachen Li, et al. ∙ 0 ∙ share

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Model-free Deep Reinforcement Learning for Urban Autonomous Driving

Urban autonomous driving decision making is challenging due to complex r...
04/20/2019 ∙ by Jianyu Chen, et al. ∙ 0 ∙ share

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Optimization Model for Planning Precision Grasps with Multi-Fingered Hands

Precision grasps with multi-fingered hands are important for precise pla...
04/15/2019 ∙ by Yongxiang Fan, et al. ∙ 0 ∙ share

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Interaction-aware Decision Making with Adaptive Strategies under Merging Scenarios

In order to drive safely and efficiently under merging scenarios, autono...
04/12/2019 ∙ by Yeping Hu, et al. ∙ 0 ∙ share

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Interaction-aware Multi-agent Tracking and Probabilistic Behavior Prediction via Adversarial Learning

In order to enable high-quality decision making and motion planning of i...
04/04/2019 ∙ by Jiachen Li, et al. ∙ 0 ∙ share

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Multi-modal Probabilistic Prediction of Interactive Behavior via an Interpretable Model

For autonomous agents to successfully operate in real world, the ability...
03/22/2019 ∙ by Yeping Hu, et al. ∙ 0 ∙ share

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Towards Better Human Robot Collaboration with Robust Plan Recognition and Trajectory Prediction

Human robot collaboration (HRC) is becoming increasingly important as th...
03/06/2019 ∙ by Yujiao Cheng, et al. ∙ 0 ∙ share

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Deep Imitation Learning for Autonomous Driving in Generic Urban Scenarios with Enhanced Safety

The decision and planning system for autonomous driving in urban environ...
03/02/2019 ∙ by Jianyu Chen, et al. ∙ 0 ∙ share

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Efficient Grasp Planning and Execution with Multi-Fingered Hands by Surface Fitting

This paper introduces a framework to plan grasps with multi-fingered han...
02/28/2019 ∙ by Yongxiang Fan, et al. ∙ 0 ∙ share

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Nonparametric Inverse Dynamic Models for Multimodal Interactive Robots

Direct design of a robot's rendered dynamics, such as in impedance contr...
01/12/2019 ∙ by Kevin Haninger, et al. ∙ 0 ∙ share

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Zero-shot Deep Reinforcement Learning Driving Policy Transfer for Autonomous Vehicles based on Robust Control

Although deep reinforcement learning (deep RL) methods have lots of stre...
12/07/2018 ∙ by Zhuo Xu, et al. ∙ 0 ∙ share

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Masayoshi Tomizuka

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