自动驾驶 - arXivDaily 专题

2101.06832 2021-04-30 cs.CV cs.AI cs.LG cs.RO 67%

Deep Structured Reactive Planning

Jerry Liu, Wenyuan Zeng, Raquel Urtasun, Ersin Yumer

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

Comments ICRA 2021

2004.08051 2021-04-12 cs.RO cs.AI cs.CV cs.LG 67%

Approximate Inverse Reinforcement Learning from Vision-based Imitation Learning

Keuntaek Lee, Bogdan Vlahov, Jason Gibson, James M. Rehg, Evangelos A. Theodorou

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

2104.03956 2021-04-09 cs.CV cs.AI cs.LG cs.RO 67%

Just Label What You Need: Fine-Grained Active Selection for Perception and Prediction through Partially Labeled Scenes

Sean Segal, Nishanth Kumar, Sergio Casas, Wenyuan Zeng, Mengye Ren, Jingkang Wang, Raquel Urtasun

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

2103.12165 2021-03-24 cs.LG cond-mat.mtrl-sci 67%

Automated and Autonomous Experiment in Electron and Scanning Probe Microscopy

Sergei V. Kalinin, Maxim A. Ziatdinov, Jacob Hinkle, Stephen Jesse, Ayana Ghosh, Kyle P. Kelley, Andrew R. Lupini, Bobby G. Sumpter, Rama K. Vasudevan

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)

2101.08976 2021-01-25 cs.IT cs.NI math.IT 67%

Predictive Wireless Based Status Update for Communication-Agnostic Sampling

Zhiyuan Jiang, Wei Zhang, Zixu Cao, Shan Cao, Shunqing Zhang, Shugong Xu

专题命中规划控制：autonomous driving(abstract)；occupancy(abstract)

Comments Submitted to IEEE TWC for possible publication. An earlier version was presented at INFOCOM 2020. arXiv admin note: substantial text overlap with arXiv:2002.01255

2011.07713 2020-11-17 cs.CV cs.AI cs.HC cs.RO 67%

DARE: AI-based Diver Action Recognition System using Multi-Channel CNNs for AUV Supervision

Jing Yang, James P. Wilson, Shalabh Gupta

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

2008.01405 2020-08-05 cs.CV cs.LG cs.RO eess.IV 67%

MSDPN: Monocular Depth Prediction with Partial Laser Observation using Multi-stage Neural Networks

Hyungtae Lim, Hyeonjae Gil, Hyun Myung

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

Comments 8 pages, 8 figures, IEEE/RSJ Intelligent Robots and Systems

2006.02636 2020-06-05 cs.CV cs.AI cs.LG cs.RO stat.ML 67%

The Importance of Prior Knowledge in Precise Multimodal Prediction

Sergio Casas, Cole Gulino, Simon Suo, Raquel Urtasun

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

2003.11973 2020-03-27 cs.RO cs.AI cs.CV cs.LG 67%

GISNet: Graph-Based Information Sharing Network For Vehicle Trajectory Prediction

Ziyi Zhao, Haowen Fang, Zhao Jin, Qinru Qiu

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

2001.11231 2020-01-31 cs.LG cs.SY eess.SY stat.ML 67%

Survey of Deep Reinforcement Learning for Motion Planning of Autonomous Vehicles

Szilárd Aradi

专题命中规划控制：autonomous driving(abstract)；trajectory planning(abstract)

1912.03193 2019-12-09 cs.LG math.OC stat.ML 67%

Risk-Averse Trust Region Optimization for Reward-Volatility Reduction

Lorenzo Bisi, Luca Sabbioni, Edoardo Vittori, Matteo Papini, Marcello Restelli

专题命中规划控制：autonomous driving(abstract)；occupancy(abstract)

1911.01706 2019-11-06 eess.SY cs.SY 67%

A Risk and Comfort Optimizing Motion Planning Scheme for Merging Scenarios

Johannes Müller, Michael Buchholz

专题命中规划控制：autonomous driving(abstract)；trajectory planning(abstract)

Comments 7 pages, published at ITSC 2019

1910.07615 2019-10-18 cs.RO cs.AI cs.CV 67%

Conditional Driving from Natural Language Instructions

Junha Roh, Chris Paxton, Andrzej Pronobis, Ali Farhadi, Dieter Fox

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

Comments Accepted by the 3rd Conference on Robot Learning, Osaka, Japan (CoRL 2019)

1910.00099 2019-10-04 cs.LG cs.CV cs.RO eess.IV stat.ML 67%

CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios

Wenhao Ding, Mengdi Xu, Ding Zhao

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

Comments Submitted to ICRA 2020, 8 pages, 7 figures

1810.06544 2019-10-02 cs.LG cs.AI cs.CV cs.RO stat.ML 67%

Deep Imitative Models for Flexible Inference, Planning, and Control

Nicholas Rhinehart, Rowan McAllister, Sergey Levine

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

1905.01296 2019-10-01 cs.CV cs.AI cs.LG cs.RO stat.ML 67%

PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settings

Nicholas Rhinehart, Rowan McAllister, Kris Kitani, Sergey Levine

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

Comments To appear at the IEEE International Conference on Computer Vision (ICCV 2019). Website: https://sites.google.com/view/precog

1909.07545 2019-09-18 cs.RO cs.CV eess.IV 67%

Real-Time Variational Fisheye Stereo without Rectification and Undistortion

Menandro Roxas, Takeshi Oishi

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

1904.08377 2019-08-19 cs.CV cs.AI cs.RO 67%

Gaze Training by Modulated Dropout Improves Imitation Learning

Yuying Chen, Congcong Liu, Lei Tai, Ming Liu, Bertram E. Shi

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

Comments 6 pages, 4 figures

1807.01001 2018-10-02 cs.LG cs.AI cs.CV cs.RO stat.ML 67%

Modular Vehicle Control for Transferring Semantic Information Between Weather Conditions Using GANs

Patrick Wenzel, Qadeer Khan, Daniel Cremers, Laura Leal-Taixé

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

Comments 2nd Conference on Robot Learning (CoRL 2018), Zürich, Switzerland

2506.06664 2025-06-10 cs.RO cs.CV 66%

Generalized Trajectory Scoring for End-to-end Multimodal Planning

Zhenxin Li, Wenhao Yao, Zi Wang, Xinglong Sun, Joshua Chen, Nadine Chang, Maying Shen, Zuxuan Wu, Shiyi Lan, Jose M. Alvarez

机构 * NVIDIA ； Fudan University（复旦大学）

专题命中规划控制：autonomous driving(abstract)；分类 cs.RO、cs.CV；end-to-end driving(comments)

Comments The 1st place solution of the End-to-end Driving Track at the CVPR 2025 Autonomous Grand Challenge

2306.11638 2023-06-21 cs.CV cs.RO 66%

Collision Avoidance Detour for Multi-Agent Trajectory Forecasting

Hsu-kuang Chiu, Stephen F. Smith

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

Comments 3rd place award, 2023 Waymo Open Dataset Challenge - Sim Agents, Workshop on Autonomous Driving of The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR Workshop) 2023

2306.10508 2023-06-21 cs.CV cs.RO 66%

QCNeXt: A Next-Generation Framework For Joint Multi-Agent Trajectory Prediction

Zikang Zhou, Zihao Wen, Jianping Wang, Yung-Hui Li, Yu-Kai Huang

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

Comments Technical report for the 1st place solution of the Argoverse 2 Multi-Agent Motion Forecasting Competition at the CVPR 2023 Workshop on Autonomous Driving

2212.00618 2022-12-02 cs.RO cs.AI cs.LG 66%

Safe Reinforcement Learning with Probabilistic Control Barrier Functions for Ramp Merging

Soumith Udatha, Yiwei Lyu, John Dolan

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

Comments Safe Learning for Autonomous Driving Workshop, ICML 2022

2111.11097 2022-06-29 cs.RO cs.AI cs.LG 66%

UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planning

Christopher Diehl, Timo Sievernich, Martin Krüger, Frank Hoffmann, Torsten Bertram

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

Comments Best Paper Award @ Advances in Neural Information Processing Systems - Machine Learning for Autonomous Driving Workshop (NeurIPS 2021 ML4AD)

2109.10257 2021-12-28 cs.CV cs.RO 66%

Skeleton-Graph: Long-Term 3D Motion Prediction From 2D Observations Using Deep Spatio-Temporal Graph CNNs

Abduallah Mohamed, Huancheng Chen, Zhangyang Wang, Christian Claudel

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

Comments To appear in the The ROAD Challenge: Event Detection for Situation Awareness in Autonomous Driving ICCV 2021 Workshop

Journal ref Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, 2021

2010.09350 2021-07-14 cs.CV cs.RO 66%

The efficacy of Neural Planning Metrics: A meta-analysis of PKL on nuScenes

Yiluan Guo, Holger Caesar, Oscar Beijbom, Jonah Philion, Sanja Fidler

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

Comments IROS 2020 Workshop on Benchmarking Progress in Autonomous Driving

2608.25142 2026-08-27 cs.RO cs.AI 新提交 62%

SkyDrive: Learning to Drive in a New City from Aerial Traffic Monitoring

SkyDrive：从空中交通监测学习在新城市中驾驶

Weijiang Xiong, Lan Feng, Alexandre Alahi, Nikolas Geroliminis

机构 * École Polytechnique Fédérale de Lausanne（洛桑联邦理工学院）

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

AI总结本研究提出SkyDrive框架，利用无人机交通监测为自动驾驶智能体提供监督，提取65万驾驶样本构建基准，可缓解跨城市领域差距，是适配新城市自动驾驶的高效可扩展数据源。

2604.07126 2026-08-12 cs.RO cs.AI cs.LG 版本更新 62%

RankFormer: A Propose-then-Select Transformer for Multi-Agent Multimodal Trajectory Prediction

自发现意图感知变换器用于多模态车辆轨迹预测

Diyi Liu, Zihan Niu, Tu Xu, Xingchen Zhang, Lishan Sun

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

AI总结本文提出一种基于Transformer的多模态车辆轨迹预测模型，通过分离空间模块和轨迹生成模块提升预测性能，并通过预测残差偏移学习有序轨迹。

Comments 11 pages, 5 figures

2608.05673 2026-08-07 cs.AI cs.CV cs.LG 新提交 62%

A Unified Framework for Trajectory Prediction with Explicit Planning and Reaction Decomposition

显式规划与反应分解的轨迹预测统一框架

Jiaheng Chen, Jiaxing Li, Tinghe Zhang, Chaopeng Guo

机构 * Software College, Northeastern University（东北大学软件学院）

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

AI总结针对现有轨迹预测方法未充分区分社会影响功能角色的问题，提出INTraJ框架，将社会影响分解为规划与反应两阶段，在四个基准上实现性能提升，验证了阶段性社会建模的重要性。

Comments Accepted by ACM MM 2026

2608.00625 2026-08-04 cs.RO cs.AI 新提交 62%

Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms

动态环境下基于学习的运动规划：从基础算法到新兴范式

Zongyuan Shen, Shalabh Gupta, Shancheng Zhao, Dehua Zhou, Gao Wang, Rui Cheng, Yaming Ou, Zhongqiang Ren, Yikui Zhai, C. L. Philip Chen

机构 * College of Information Science and Technology, Jinan University（暨南大学信息科学技术学院）； University of Connecticut（康涅狄格大学）； Guangzhou Maritime University（广州海事大学）； University of Chinese Academy of Sciences（中国科学院大学）； Global College, Shanghai Jiao Tong University（上海交通大学全球学院）； Wuyi University（五邑大学）； South China University of Technology（华南理工大学）

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

AI总结本综述回顾2015至2025年动态环境下基于学习的运动规划代表性研究，提出学习作用分类法，分析相关影响因素，探讨安全可验证规划等开放挑战与未来方向。

1. 规划控制 4272 篇

Deep Structured Reactive Planning

Approximate Inverse Reinforcement Learning from Vision-based Imitation Learning

Just Label What You Need: Fine-Grained Active Selection for Perception and Prediction through Partially Labeled Scenes

Automated and Autonomous Experiment in Electron and Scanning Probe Microscopy

Predictive Wireless Based Status Update for Communication-Agnostic Sampling

DARE: AI-based Diver Action Recognition System using Multi-Channel CNNs for AUV Supervision

MSDPN: Monocular Depth Prediction with Partial Laser Observation using Multi-stage Neural Networks

The Importance of Prior Knowledge in Precise Multimodal Prediction

GISNet: Graph-Based Information Sharing Network For Vehicle Trajectory Prediction

Survey of Deep Reinforcement Learning for Motion Planning of Autonomous Vehicles

Risk-Averse Trust Region Optimization for Reward-Volatility Reduction

A Risk and Comfort Optimizing Motion Planning Scheme for Merging Scenarios

Conditional Driving from Natural Language Instructions

CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios

Deep Imitative Models for Flexible Inference, Planning, and Control

PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settings

Real-Time Variational Fisheye Stereo without Rectification and Undistortion

Gaze Training by Modulated Dropout Improves Imitation Learning

Modular Vehicle Control for Transferring Semantic Information Between Weather Conditions Using GANs

Generalized Trajectory Scoring for End-to-end Multimodal Planning

Collision Avoidance Detour for Multi-Agent Trajectory Forecasting

QCNeXt: A Next-Generation Framework For Joint Multi-Agent Trajectory Prediction

Safe Reinforcement Learning with Probabilistic Control Barrier Functions for Ramp Merging

UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planning

Skeleton-Graph: Long-Term 3D Motion Prediction From 2D Observations Using Deep Spatio-Temporal Graph CNNs

The efficacy of Neural Planning Metrics: A meta-analysis of PKL on nuScenes

SkyDrive: Learning to Drive in a New City from Aerial Traffic Monitoring

RankFormer: A Propose-then-Select Transformer for Multi-Agent Multimodal Trajectory Prediction

A Unified Framework for Trajectory Prediction with Explicit Planning and Reaction Decomposition

Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms