自动驾驶

Hybrid DQN-TD3 Reinforcement Learning for Autonomous Navigation in Dynamic Environments

Xiaoyi He, Danggui Chen, Zhenshuo Zhang, Zimeng Bai

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

Comments 6 pages, 5 figures; ROS+Gazebo (TurtleBot3) implementation; evaluation with PathBench metrics; code (primary): https://github.com/MayaCHEN-github/HierarchicalRL-robot-navigation; mirror (for reproducibility): https://github.com/ShowyHe/DRL-robot-navigation

Integrating Legal and Logical Specifications in Perception, Prediction, and Planning for Automated Driving: A Survey of Methods

Kumar Manas, Mert Keser, Alois Knoll

机构 * Department of Computer Science and Mathematics, Freie Universität Berlin（自由大学柏林计算机科学与数学系） ； Continental Automotive（大陆汽车） ； Computation, Information and Technology, Technical University of Munich（慕尼黑技术大学计算、信息与技术系） 纠错

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

Comments Accepted to 2025 IEEE International Automated Vehicle Validation Conference (IAVVC)

Uncertainty-Aware Autonomous Vehicles: Predicting the Road Ahead

Shireen Kudukkil Manchingal, Armand Amaritei, Mihir Gohad, Maryam Sultana, Julian F. P. Kooij, Fabio Cuzzolin, Andrew Bradley

机构 * School of Engineering, Computing and Mathematics, Oxford Brookes University, UK（工程、计算与数学学院，奥克斯福德布鲁克斯大学，英国） ； Autonomous Driving and Intelligent Transport, Oxford Brookes University, UK（自动驾驶与智能交通，奥克斯福德布鲁克斯大学，英国） ； Cognitive Robotics, TU Delft, Netherlands（认知机器人学，代尔夫特理工大学，荷兰） 纠错

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

TreeIRL: Safe Urban Driving with Tree Search and Inverse Reinforcement Learning

Momchil S. Tomov, Sang Uk Lee, Hansford Hendrago, Jinwook Huh, Teawon Han, Forbes Howington, Rafael da Silva, Gianmarco Bernasconi, Marc Heim, Samuel Findler, Xiaonan Ji, Alexander Boule, Michael Napoli, Kuo Chen, Jesse Miller, Boaz Floor, Yunqing Hu

机构 * Motional 纠错

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

Learning Neural Control Barrier Functions from Expert Demonstrations using Inverse Constraint Learning

Yuxuan Yang, Hussein Sibai

机构 * Computer Science and Engineering Department（计算机科学与工程系） 纠错

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

HYPE: Hybrid Planning with Ego Proposal-Conditioned Predictions

Hang Yu, Julian Jordan, Julian Schmidt, Silvan Lindner, Alessandro Canevaro, Wilhelm Stork

机构 * Mercedes-Benz AG, Research & Development（梅赛德斯-奔驰集团，研发部） ； Karlsruhe Institute of Technology, ITIV（卡尔斯鲁厄理工学院，ITIV） ； University of Tübingen（图宾根大学） 纠错

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

Comments Accepted to IEEE ITSC 2025

GRIP: A Unified Framework for Grid-Based Relay and Co-Occurrence-Aware Planning in Dynamic Environments

Ahmed Alanazi, Duy Ho, Yugyung Lee

机构 * University of Missouri–Kansas City（密苏里大学-堪萨斯城分校） ； California State University, Fullerton（加州州立大学Fullerton分校） 纠错

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

Comments 17 pages, 5 figures, 8 tables

Towards Safer and Understandable Driver Intention Prediction

Mukilan Karuppasamy, Shankar Gangisetty, Shyam Nandan Rai, Carlo Masone, C V Jawahar

机构 * IIIT Hyderabad（海得拉巴印度理工学院） ； Politecnico di Torino（托里诺理工学院） 纠错

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

Comments 10 pages

A Trajectory Generator for High-Density Traffic and Diverse Agent-Interaction Scenarios

Ruining Yang, Yi Xu, Yixiao Chen, Yun Fu, Lili Su

机构 * Department of Electrical and Computer Engineering, Northeastern University（电气与计算机工程系，东北大学） 纠错

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

What Did I Learn? Operational Competence Assessment for AI-Based Trajectory Planners

Michiel Braat, Maren Buermann, Marijke van Weperen, Jan-Pieter Paardekooper

机构 * Netherlands Organisation for Applied Scientific Research（荷兰应用科学研究院） ； Integrated Vehicle Safety Group（集成车辆安全组） ； Radboud University（拉德堡德大学） ； Donders Institute for Brain, Cognition and Behaviour（多纳尔斯脑、认知与行为研究所） 纠错

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

Comments Accepted for publication in proceedings of the 2025 IEEE International Automated Vehicle Validation Conference

Optimizing Indoor Environmental Quality in Smart Buildings Using Deep Learning

Youssef Sabiri, Walid Houmaidi, Aaya Bougrine, Salmane El Mansour Billah

机构 * Al Akhawayn University（阿尔阿赫瓦因大学） 纠错

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

Comments 10 pages, 4 figures, 1 table. Accepted and presented at the 5th International Conference on Digital Technologies and Applications (ICDTA 2025), April 17-18, 2025, Al Akhawayn University, Ifrane, Morocco

Learning Personalized Driving Styles via Reinforcement Learning from Human Feedback

Derun Li, Changye Li, Yue Wang, Jianwei Ren, Xin Wen, Pengxiang Li, Leimeng Xu, Kun Zhan, Peng Jia, Xianpeng Lang, Ningyi Xu, Hang Zhao

机构 * Shanghai Jiao Tong University（上海交通大学） ； Shanghai Qi Zhi Institute（上海启智研究院） ； Peking University（北京大学） ； LiAuto ； Tsinghua University（清华大学） 纠错

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

Comments 20 pages, 6 figures

Autoregressive End-to-End Planning with Time-Invariant Spatial Alignment and Multi-Objective Policy Refinement

Jianbo Zhao, Taiyu Ban, Xiangjie Li, Xingtai Gui, Hangning Zhou, Lei Liu, Hongwei Zhao, Bin Li

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

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

Learning to Drive by Imitating Surrounding Vehicles

Yasin Sonmez, Hanna Krasowski, Murat Arcak

机构 * Faculty of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA（电气工程与计算机科学学院，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.AI

CoPAD : Multi-source Trajectory Fusion and Cooperative Trajectory Prediction with Anchor-oriented Decoder in V2X Scenarios

Kangyu Wu, Jiaqi Qiao, Ya Zhang

机构 * School of Automation, Southeast University, Nanjing, China（自动化学院，东南大学，南京，中国） ； Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China（工程复杂系统测量与控制关键实验室，教育部，南京，中国） 纠错

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

Comments 7 pages, 4 pages, IROS2025

A Conflicts-free, Speed-lossless KAN-based Reinforcement Learning Decision System for Interactive Driving in Roundabouts

Zhihao Lin, Zhen Tian, Jianglin Lan, Qi Zhang, Ziyang Ye, Hanyang Zhuang, Xianxian Zhao

机构 * James Watt School of Engineering, University of Glasgow（格拉斯哥大学詹姆斯·瓦特工程学院） ； Faculty of Science, University of Amsterdam（阿姆斯特丹大学科学学院） ； School of Computer and Mathematical Sciences, The University of Adelaide（阿德莱德大学计算机与数学科学学院） ； University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University（密歇根大学-上海交通大学联合研究所，上海交通大学） ； School of Electrical and Electronic Engineering, University College Dublin（都柏林大学学院电子与电气工程学院） 纠错

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

Comments 14 pages, 11 figures, published in IEEE Transactions on Intelligent Transportation Systems

Scaling Laws of Motion Forecasting and Planning -- Technical Report

Mustafa Baniodeh, Kratarth Goel, Scott Ettinger, Carlos Fuertes, Ari Seff, Tim Shen, Cole Gulino, Chenjie Yang, Ghassen Jerfel, Dokook Choe, Rui Wang, Benjamin Charrow, Vinutha Kallem, Sergio Casas, Rami Al-Rfou, Benjamin Sapp, Dragomir Anguelov

机构 * Waymo LLC（Waymo公司） 纠错

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

Real-Time Instrument Planning and Perception for Novel Measurements of Dynamic Phenomena

Itai Zilberstein, Alberto Candela, Steve Chien

机构 * School of Computer Science, Carnegie Mellon University（卡内基梅隆大学计算机科学系） ； Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室，加州理工学院） 纠错

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

Comments Appears in Proceedings of 18th Symposium on Advanced Space Technologies in Robotics and Automation

Self-Supervised Learning-Based Path Planning and Obstacle Avoidance Using PPO and B-Splines in Unknown Environments

Shahab Shokouhi, Oguzhan Oruc, May-Win Thein

机构 * Department of Mechanical Engineering Univerisity of New Hampshire Durham, New Hampshire, USA（机械工程系 新罕布什尔大学 布鲁克林, 新罕布什尔州, 美国） ； Department of Mechanical Engineering The Citadel School of Engineering Charleston County, South Carolina, USA（机械工程系 蒂 Citadel 工程学院 查尔斯顿县, 南卡罗来纳州, 美国） 纠错

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

Mini Autonomous Car Driving based on 3D Convolutional Neural Networks

Pablo Moraes, Monica Rodriguez, Kristofer S. Kappel, Hiago Sodre, Santiago Fernandez, Igor Nunes, Bruna Guterres, Ricardo Grando

机构 * Technological University of Uruguay, UTEC, Uruguay（乌拉圭技术大学） 纠错

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

ActLoc: Learning to Localize on the Move via Active Viewpoint Selection

Jiajie Li, Boyang Sun, Luca Di Giammarino, Hermann Blum, Marc Pollefeys

机构 * ETH Zürich（苏黎世联邦理工学院） ； Sapienza University of Rome（罗马萨皮恩扎大学） ； Microsoft（微软） ； University of Bonn（波恩大学） 纠错

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

Adaptive Output Steps: FlexiSteps Network for Dynamic Trajectory Prediction

Yunxiang Liu, Hongkuo Niu, Jianlin Zhu

机构 * Faculty of Intelligence Technology, Shanghai Institute of Technology（智能技术学院，上海理工大学） 纠错

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

CaRL: Learning Scalable Planning Policies with Simple Rewards

Bernhard Jaeger, Daniel Dauner, Jens Beißwenger, Simon Gerstenecker, Kashyap Chitta, Andreas Geiger

机构 * University of Tübingen（图宾根大学） ； Tübingen AI Center（图宾根人工智能中心） ； NVIDIA Research（NVIDIA研究） 纠错

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

Comments Accepted at the Conference on Robot Learning 2025

Shape Your Ground: Refining Road Surfaces Beyond Planar Representations

Oussema Dhaouadi, Johannes Meier, Jacques Kaiser, Daniel Cremers

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

LD-Scene: LLM-Guided Diffusion for Controllable Generation of Adversarial Safety-Critical Driving Scenarios

Mingxing Peng, Yuting Xie, Xusen Guo, Ruoyu Yao, Hai Yang, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； School of Computer Science and Engineering, Sun Yat-sen University（中山大学计算机科学与工程学院） 纠错

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

Comments 18 pages, 8 figures

Relative Position Matters: Trajectory Prediction and Planning with Polar Representation

Bozhou Zhang, Nan Song, Bingzhao Gao, Li Zhang

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

CaRoBio: 3D Cable Routing with a Bio-inspired Gripper Fingernail

Jiahui Zuo, Boyang Zhang, Fumin Zhang

机构 * Department of Electronic and Computer Engineering（电子与计算机工程系） ； Hong Kong University of Science and Technology（香港科技大学） 纠错

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

Learning to Initialize Trajectory Optimization for Vision-Based Autonomous Flight in Unknown Environments

Yicheng Chen, Jinjie Li, Wenyuan Qin, Yongzhao Hua, Xiwang Dong, Qingdong Li

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

Comments Accepted to IROS 2025. Source code available

RoboTron-Sim: Improving Real-World Driving via Simulated Hard-Case

Baihui Xiao, Chengjian Feng, Zhijian Huang, Feng yan, Yujie Zhong, Lin Ma

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

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

Comments ICCV 2025

PatchTraj: Unified Time-Frequency Representation Learning via Dynamic Patches for Trajectory Prediction

Yanghong Liu, Xingping Dong, Ming Li, Weixing Zhang, Yidong Lou

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