自动驾驶

Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Valid Infrastructures

Michal Čáp, Jiří Vokřínek, Alexander Kleiner

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

Comments Accepted to International Conference on Automated Planning and Scheduling 2015

Evolutionary Hyperparameter Optimization to Find Lightweight CNN Models for Autonomous Steering

进化超参数优化以寻找用于自主转向的轻量级CNN模型

Devson Butani, Ryan Kaddis, Chan-Jin Chung

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

AI总结 采用(N+M)进化策略自动调优CNN超参数，在极小数据集上训练轻量级模型实现实时转向角预测，平衡计算效率与精度。

Comments 7 pages, 5 figures. Accepted at 2025 IEEE International Conference on Electro Information Technology (eIT). Author-accepted manuscript. Final published version: https://doi.org/10.1109/eIT64391.2025.11103679

ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo

ActMVS：基于单目多视图立体的主动场景重建

Guo Pu, Yixuan Han, Zhouhui Lian

机构 * Wangxuan Institute of Computer Technology, Peking University（北京大学王轩计算机技术研究所） 纠错

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

AI总结 提出ActMVS框架，通过视图因子图构建和全局深度优化，实现单目相机在线生成高质量、全局一致的密集深度图，支持机器人/UAV的主动场景重建与安全轨迹规划。

Comments ICRA 2026

DiffCrossGait: Trajectory-Level Alignment for 2D-3D Cross-Modal Gait Recognition via Latent Diffusion

DiffCrossGait：基于潜在扩散的2D-3D跨模态步态识别轨迹级对齐

Zhiyang Lu, Ming Cheng

机构 * University of Science and Technology of China（中国科学技术大学） 纠错

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

AI总结 针对2D-3D跨模态步态识别中的域差异问题，提出DiffCrossGait，通过潜在扩散空间中的轨迹级对齐实现连续模态对齐，并引入三阶段对齐策略确保身份锚定、动态一致性和跨模态结构可恢复性，在SUSTech1K和FreeGait基准上达到最优性能。

Comments Accepted by ICML2026

Cross-Stage Coherence in Hierarchical Driving VQA: Explicit Baselines and Learned Gated Context Projectors

层次驾驶视觉问答中的跨阶段一致性：显式基线与学习门控上下文投影

Gautam Kumar Jain, Carsten Markgraf, Julian Stähler

机构 * Technische Hochschule Augsburg（亚琛工业大学） 纠错

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

AI总结 本文研究了驾驶场景中跨阶段上下文传递的两种方法，显式基线通过无额外训练的4B VLM减少矛盾，隐式基线通过门控投影提升规划阶段语义一致性，两者共同探讨了领域适应在全谱改进中的潜力。

Comments 16 pages, 8 figures, 8 tables, preprint

Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural

Andrei A. Korigodskii, Oleg D. Kalachev, Artem E. Vasiunik, Matvei V. Urvantsev, Georgii E. Bondar

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

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Mars Traversability Prediction: A Multi-modal Self-supervised Approach for Costmap Generation

Zongwu Xie, Kaijie Yun, Yang Liu, Yiming Ji, Han Li

机构 * State Key Laboratory of Robotics and Systems, Harbin Institute of Technology（机器人系统国家重点实验室，哈尔滨工业大学） 纠错

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

MoSE: Skill-by-Skill Mixture-of-Experts Learning for Embodied Autonomous Machines

Lu Xu, Jiaqian Yu, Xiongfeng Peng, Yiwei Chen, Weiming Li, Jaewook Yoo, Sunghyun Chunag, Dongwook Lee, Daehyun Ji, Chao Zhang

机构 * Advanced Research Lab, Samsung Research China-Beijing（三星研究院中国北京先进研究实验室） ； Manufacturing/Material Handling AI Lab (DS AI Center)（制造/物料处理AI实验室（DS AI中心）） 纠错

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

AGENTS-LLM: Augmentative GENeration of Challenging Traffic Scenarios with an Agentic LLM Framework

Yu Yao, Salil Bhatnagar, Markus Mazzola, Vasileios Belagiannis, Igor Gilitschenski, Luigi Palmieri, Simon Razniewski, Marcel Hallgarten

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

Semantic and Feature Guided Uncertainty Quantification of Visual Localization for Autonomous Vehicles

Qiyuan Wu, Mark Campbell

机构 * Sibley School of Mechanical and Aerospace Engineering, Cornell University（科尼尔大学机械与航空航天工程学院） 纠错

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

Comments Accepted by ICRA 2025

Global Tensor Motion Planning

An T. Le, Kay Hansel, João Carvalho, Joe Watson, Julen Urain, Armin Biess, Georgia Chalvatzaki, Jan Peters

机构 * IEEE 纠错

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

Comments 8 pages, 3 figures. Accepted at IEEE Robotics and Automation Letters 2025

Driving-RAG: Driving Scenarios Embedding, Search, and RAG Applications

Cheng Chang, Jingwei Ge, Jiazhe Guo, Zelin Guo, Binghong Jiang, Li Li

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

LoRD: Adapting Differentiable Driving Policies to Distribution Shifts

Christopher Diehl, Peter Karkus, Sushant Veer, Marco Pavone, Torsten Bertram

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

Comments IEEE International Conference on Robotics & Automation, ICRA 2025

Task-Oriented Co-Design of Communication, Computing, and Control for Edge-Enabled Industrial Cyber-Physical Systems

Yufeng Diao, Yichi Zhang, Daniele De Martini, Philip Guodong Zhao, Emma Liying Li

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

Comments This paper has been accepted for publication in IEEE Journal on Selected Areas in Communications (JSAC), with publication expected in 2025

Quantization-Aware Imitation-Learning for Resource-Efficient Robotic Control

Seongmin Park, Hyungmin Kim, Wonseok Jeon, Juyoung Yang, Byeongwook Jeon, Yoonseon Oh, Jungwook Choi

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

Let Hybrid A* Path Planner Obey Traffic Rules: A Deep Reinforcement Learning-Based Planning Framework

Xibo Li, Shruti Patel, Christof Büskens

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

VeTraSS: Vehicle Trajectory Similarity Search Through Graph Modeling and Representation Learning

Ming Cheng, Bowen Zhang, Ziyu Wang, Ziyi Zhou, Weiqi Feng, Yi Lyu, Xingjian Diao

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

Model-Based Reinforcement Learning with Isolated Imaginations

Minting Pan, Xiangming Zhu, Yitao Zheng, Yunbo Wang, Xiaokang Yang

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

Comments arXiv admin note: text overlap with arXiv:2205.13817

Model Checking for Closed-Loop Robot Reactive Planning

Christopher Chandler, Bernd Porr, Alice Miller, Giulia Lafratta

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

Comments In Proceedings FMAS 2023, arXiv:2311.08987

Journal ref EPTCS 395, 2023, pp. 77-94

Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty

Reiya Takemura, Genya Ishigami

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

Comments 7 pages, 7 figures, 2 tables. Submitted article for presentation at the 2024 IEEE International Conference on Robotics and Automation (ICRA)

Communication-Critical Planning via Multi-Agent Trajectory Exchange

Nathaniel Moore Glaser, Zsolt Kira

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

Comments Accepted to ICRA 2023

SCONE: Surface Coverage Optimization in Unknown Environments by Volumetric Integration

Antoine Guédon, Pascal Monasse, Vincent Lepetit

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

Comments NeurIPS 2022 Camera-Ready. Project Webpage: https://github.com/Anttwo/SCONE

Integrated Decision and Control for High-Level Automated Vehicles by Mixed Policy Gradient and Its Experiment Verification

Yang Guan, Liye Tang, Chuanxiao Li, Shengbo Eben Li, Yangang Ren, Junqing Wei, Bo Zhang, Keqiang Li

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

Multi-modal Transformer Path Prediction for Autonomous Vehicle

Chia Hong Tseng, Jie Zhang, Min-Te Sun, Kazuya Sakai, Wei-Shinn Ku

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

Comments 9 pages, 12 figures, and 5 tables

Exploring Map-based Features for Efficient Attention-based Vehicle Motion Prediction

Carlos Gómez-Huélamo, Marcos V. Conde, Miguel Ortiz

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

Comments CVPR MABe 2022 - ICRA FFPFAD 2022 Workshops

Driving in Real Life with Inverse Reinforcement Learning

Tung Phan-Minh, Forbes Howington, Ting-Sheng Chu, Sang Uk Lee, Momchil S. Tomov, Nanxiang Li, Caglayan Dicle, Samuel Findler, Francisco Suarez-Ruiz, Robert Beaudoin, Bo Yang, Sammy Omari, Eric M. Wolff

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

Bayesian Optimization and Deep Learning forsteering wheel angle prediction

Alessandro Riboni, Nicolò Ghioldi, Antonio Candelieri, Matteo Borrotti

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

MultiXNet: Multiclass Multistage Multimodal Motion Prediction

Nemanja Djuric, Henggang Cui, Zhaoen Su, Shangxuan Wu, Huahua Wang, Fang-Chieh Chou, Luisa San Martin, Song Feng, Rui Hu, Yang Xu, Alyssa Dayan, Sidney Zhang, Brian C. Becker, Gregory P. Meyer, Carlos Vallespi-Gonzalez, Carl K. Wellington

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

Comments Accepted for publication at IEEE Intelligent Vehicles Symposium (IV) 2021

Physically Feasible Vehicle Trajectory Prediction

Harshayu Girase, Jerrick Hoang, Sai Yalamanchi, Micol Marchetti-Bowick

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

Experience-Based Heuristic Search: Robust Motion Planning with Deep Q-Learning

Julian Bernhard, Robert Gieselmann, Klemens Esterle, Alois Knoll

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

Comments published at IEEE IV 2018