Friction uncertainty is a significant challenge for autonomous vehicle control, undermining feasibility and performance. This paper proposes a novel two-layer control framework to achieve vehicle motion control under large friction uncertainty by combining optimization-based planning with indirect adaptive robust contr...
Yu-Peng Zhou, I-Chia Chang, Zi-Ran Wang et al.· 0 citations
This work designs a training dataset that provides more informative supervision for the scorer and constructs two generators that perturb the logged human trajectory along the two axes a vehicle can be displaced: laterally toward the drivable boundary and longitudinally toward a leading vehicle.
Ya-Guang Li, Jia-Ru Zhang, Chu-Heng Wei et al.· 0 citations
This paper adapts the formalism of simple elementary languages (sEL) and introduces the timed augmented prefix tree acceptor (tAPTA), and generates a deterministic timed automaton (DTA) consistent with a given set of system behaviors.
This paper identifies a fundamental mismatch between direct action-conditioned prediction and counterfactual ground truth in driving world models, and introduces a deliberately simple, training-free pipeline that moves observed evidence into the counterfactual view and lets the frozen model complete what remains unknow...
This survey delivers a comprehensive and critical synthesis of the emerging role of GenAI across the autonomous driving stack, delving into the frontier applications of GenAI in image, LiDAR, trajectory, occupancy, and video generation, as well as LLM-guided reasoning and decision-making.
Yu-Ping Wang, Shuo Xing, C. Cui et al.· ACM Computing Surveys· 60 citations· ⚡2
A unified view of post-training for autonomous driving is presented by defining its scope and organizing the existing literature into four major families based on the form of supervision they use, which aim to facilitate a systematic understanding of this emerging area and stimulate future research on reliable and effi...
Ruining Yang, Mu Wang, Yi-Xiao Chen et al.· arXiv.org· 1 citation
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