自动驾驶

DeMo++: Motion Decoupling for Autonomous Driving

Bozhou Zhang, Nan Song, Xiatian Zhu, Li Zhang

机构 * School of Data Science, Fudan University（复旦大学数据科学学院） ； University of Surrey（萨里大学） 纠错

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

Comments Journal extension of NeurIPS 2024. arXiv admin note: substantial text overlap with arXiv:2410.05982

EqDrive: Efficient Equivariant Motion Forecasting with Multi-Modality for Autonomous Driving

Yuping Wang, Jier Chen

机构 * University of Michigan（密歇根大学） ； Shanghai Jiao Tong University（上海交通大学） 纠错

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

Comments 6 pages, 7 figures, Accepted 2024 International Conference on Robotics and Automation

MagicDrive-V2: High-Resolution Long Video Generation for Autonomous Driving with Adaptive Control

Ruiyuan Gao, Kai Chen, Bo Xiao, Lanqing Hong, Zhenguo Li, Qiang Xu

机构 * CUHK（中文大学） ； HKUST（香港科技大学） ； Huawei Cloud（华为云） ； 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.CV

Comments ICCV 2025 camera-ready version, Project Website: https://flymin.github.io/magicdrive-v2/

Towards a Safe Real-Time Motion Planning Framework for Autonomous Driving Systems: An MPPI Approach

Mehdi Testouri, Gamal Elghazaly, Raphael Frank

机构 * University of Luxembourg Interdisciplinary Centre for, Security, Reliability（卢森堡大学跨学科研究中心（安全、可靠性）） 纠错

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

Multi-Objective Trajectory Planning for a Robotic Arm in Curtain Wall Installation

Xiao Liu, Yunxiao Cheng, Weijun Wang, Tianlun Huang, Zhiyong Wang, Wei Feng

机构 * Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院） ； Shenzhen University of Advanced Technology and University of Chinese Academy of Sciences（深圳先进技术大学和中国科学院大学） 纠错

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

Trajectory Planning of a Curtain Wall Installation Robot Based on Biomimetic Mechanisms

Xiao Liu, Weijun Wang, Tianlun Huang, Zhiyong Wang, Wei Feng

机构 * Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（深圳先进技术研究院，中国科学院） 纠错

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

VLM-UDMC: VLM-Enhanced Unified Decision-Making and Motion Control for Urban Autonomous Driving

Haichao Liu, Haoren Guo, Pei Liu, Benshan Ma, Yuxiang Zhang, Jun Ma, Tong Heng Lee

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； National University of Singapore（新加坡国立大学） ； The Hong Kong University of Science and Technology（香港科学与技术大学） 纠错

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

Comments 14 pages, 12 figures

ReAL-AD: Towards Human-Like Reasoning in End-to-End Autonomous Driving

Yuhang Lu, Jiadong Tu, Yuexin Ma, Xinge Zhu

机构 * ShanghaiTech University（上海科技大学） ； 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

Comments Accepted by ICCV2025

Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties

Zhenmin Huang, Yusen Xie, Benshan Ma, Shaojie Shen, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； The Hong Kong University of Science and Technology（香港科学与技术大学） ； HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute（香港科学与技术大学深圳-香港协同创新研究院） 纠错

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

IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving

Kanghyun Ryu, Minjun Sung, Piyush Gupta, Jovin D'sa, Faizan M. Tariq, David Isele, Sangjae Bae

机构 * HRI ； University of California Berkeley（加州大学伯克利分校） ； University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） 纠错

专题命中 规划控制 ：autonomous driving(title)；trajectory planning(abstract)；分类 cs.RO

Comments To be published in The IEEE International Conference on Intelligent Transportation Systems (ITSC) 2025

Learning Maximal Safe Sets Using Hypernetworks for MPC-based Local Trajectory Planning in Unknown Environments

Bojan Derajić, Mohamed-Khalil Bouzidi, Sebastian Bernhard, Wolfgang Hönig

机构 * Continental Automotive Technologies GmbH, Germany（德国大陆汽车技术有限公司） ； Technical University of Berlin, Germany（柏林技术大学） ； Free University of Berlin, Germany（柏林自由大学） 纠错

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

RCG: Safety-Critical Scenario Generation for Robust Autonomous Driving via Real-World Crash Grounding

Benjamin Stoler, Juliet Yang, Jonathan Francis, Jean Oh

机构 * School of Computer Science at Carnegie Mellon University（卡内基梅隆大学计算机科学学院） ； Bosch Center for AI（博世人工智能中心） 纠错

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

LVLM-MPC Collaboration for Autonomous Driving: A Safety-Aware and Task-Scalable Control Architecture

Kazuki Atsuta, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

机构 * Department of Mechanical Systems Engineering（机械系统工程系） ； Nagoya University（名古屋大学） 纠错

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

Comments 8 pages, 8 figures

Flatness-based Finite-Horizon Multi-UAV Formation Trajectory Planning and Directionally Aware Collision Avoidance Tracking

Hossein B. Jond, Logan Beaver, Martin Jiroušek, Naiemeh Ahmadlou, Veli Bakırcıoğlu, Martin Saska

机构 * Department of Cybernetics, Czech Technical University in Prague（捷克技术大学布拉格分校自动化系） ； Mechanical and Aerospace Engineering, Old Dominion University（旧 Dominion 大学机械与航空航天工程系） ； Mechanical Engineering Faculty, Sahand University of Technology（沙赫德大学机械工程系） ； Aksaray University（阿克萨雷大学） 纠错

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

Comments Accepted for Journal of the Franklin Institute

DRARL: Disengagement-Reason-Augmented Reinforcement Learning for Efficient Improvement of Autonomous Driving Policy

Weitao Zhou, Bo Zhang, Zhong Cao, Xiang Li, Qian Cheng, Chunyang Liu, Yaqin Zhang, Diange Yang

机构 * School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动学院） ； Didi Global（滴滴出行） ； Department of Civil and Environmental Engineering, University of Michigan（密歇根大学土木与环境工程系） ； Lab for High Technology, Tsinghua University（清华大学高科技实验室） ； Institute for AI Industry Research, Tsinghua University（清华大学人工智能产业研究院） 纠错

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

Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersections

Yiou Huang

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

A Physics-informed End-to-End Occupancy Framework for Motion Planning of Autonomous Vehicles

Shuqi Shen, Junjie Yang, Hongliang Lu, Hui Zhong, Qiming Zhang, Xinhu Zheng

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） 纠错

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

Online Performance Assessment of Multi-Source-Localization for Autonomous Driving Systems Using Subjective Logic

Stefan Orf, Sven Ochs, Marc René Zofka, J. Marius Zöllner

机构 * FZI Research Center for Information Technology（FZI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(title,abstract)；分类 cs.RO

Comments submitted to IEEE IAVVC 2025

Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method

Zehao Wang, Han Zhang, Jingchuan Wang, Weidong Chen

机构 * Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University（自动化系、医疗机器人研究所、上海交通大学） ； 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） ； Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai（智能控制与管理上海工程研究中心） 纠错

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

HCRMP: A LLM-Hinted Contextual Reinforcement Learning Framework for Autonomous Driving

Zhiwen Chen, Bo Leng, Zhuoren Li, Hanming Deng, Guizhe Jin, Ran Yu, Huanxi Wen

机构 * Tongji University（同济大学） ； SenseTime Research（商汤科技研究院） 纠错

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

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer

Kang Ding, Chunxuan Jiao, Yunze Hu, Kangjie Zhou, Pengying Wu, Yao Mu, Chang Liu

机构 * Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University（先进制造与机器人系，工程学院，北京大学） ； Department of Computer Science, The University of Hong Kong（计算机科学系，香港大学） 纠错

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

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving

Yunsheng Ma, Burhaneddin Yaman, Xin Ye, Mahmut Yurt, Jingru Luo, Abhirup Mallik, Ziran Wang, Liu Ren

机构 * Bosch Research North America & Bosch Center for Artificial Intelligence (BCAI)（博世北美研究部及博世人工智能中心） ； Purdue University（普渡大学） 纠错

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

Comments 10 pages

Reachable Sets-based Trajectory Planning Combining Reinforcement Learning and iLQR

Wenjie Huang, Yang Li, Shijie Yuan, Jingjia Teng, Hongmao Qin, Yougang Bian

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

Comments We sincerely request the withdrawal of this paper. After further research and review, we have found that certain parts of the content contain uncertainties and are not sufficient to support the conclusions previously drawn. To avoid any potential misunderstanding or misguidance to the research community, we have decided to voluntarily withdraw the manuscript

MiniDrive: More Efficient Vision-Language Models with Multi-Level 2D Features as Text Tokens for Autonomous Driving

Enming Zhang, Xingyuan Dai, Min Huang, Yisheng Lv, Qinghai Miao

机构 * School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） ； State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） 纠错

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

REACT: Runtime-Enabled Active Collision-avoidance Technique for Autonomous Driving

Heye Huang, Hao Cheng, Zhiyuan Zhou, Zijin Wang, Qichao Liu, Xiaopeng Li

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

Comments 22 pages, 11 figures

Fast Heuristic Scheduling and Trajectory Planning for Robotic Fruit Harvesters with Multiple Cartesian Arms

Yuankai Zhu, Stavros Vougioukas

机构 * Department of Mechanical & Aerospace Engineering University of California, Davis（机械与航空航天工程系加州大学戴维斯分校） ； Department of Biological and Agricultural Engineering University of California, Davis（生物与农业工程系加州大学戴维斯分校） 纠错

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

Comments This work will be submitted to the IEEE for possible publication

MC-Swarm: Minimal-Communication Multi-Agent Trajectory Planning and Deadlock Resolution for Quadrotor Swarm

Yunwoo Lee, Jungwon Park

机构 * AI Institute of Seoul National University（首尔国立大学人工智能研究所） ； Carnegie Mellon University（卡内基梅隆大学） ； Department of Mechanical System Design Engineering, Seoul National University of Science and Technology (SEOULTECH)（首尔科学技术大学机械系统设计工程系） 纠错

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

Comments 13 pages, 11 figures

Towards Human-Centric Autonomous Driving: A Fast-Slow Architecture Integrating Large Language Model Guidance with Reinforcement Learning

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

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

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

Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications

Francesco Prignoli, Ying Shuai Quan, Mohammad Jeddi, Jonas Sjöberg, Paolo Falcone

机构 * Mechatronics group at the Department of Electrical Engineering, Chalmers University of Technology（楚克大学电气工程系机电组） ； Dept. of Electrical and Information Engineering, Italian National Ph.D. DAUSY, Polytechnic of Bari（意大利国家博士项目DAUSY巴里理工学院电子与信息工程系） 纠错

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

Comments 7 pages, 5 figures, submitted to 64th IEEE Conference on Decision and Control. arXiv admin note: text overlap with arXiv:2503.15373

Barrier Function Overrides For Non-Convex Fixed Wing Flight Control and Self-Driving Cars

Eric Squires, Phillip Odom, Zsolt Kira

机构 * Georgia Tech Research Institute（佐治亚理工学院研究 institute） ； College of Computing at the Georgia Institute of Technology（佐治亚理工学院计算机学院） 纠错

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

Comments This work has been submitted to the IEEE for possible publication