Mapping and localization using surface features is prone to failure due to environment changes such as inclement weather. Recently, Localizing Ground Penetrating Radar (LGPR) has been proposed as an alternative means of localizing using underground …
As learning-based methods make their way from perception systems to planning/control stacks, robot control systems have started to enjoy the benefits that data-driven methods provide. Because control systems directly affect the motion of the robot, …
Deploying fully autonomous vehicles has been a subject of intense research in both industry and academia. However, the majority of these efforts have relied heavily on High Definition (HD) prior maps. These are necessary to provide the planning and …
Symbolic reasoning is a key component for enabling practical use of data-driven planners in autonomous driving. In that context, deterministic finite state automata (DFA) are often used to formalize the underlying high-level decision-making process. …
In this work, we propose a novel approach for integrating rules into traffic agent trajectory prediction. Consideration of rules is important for understanding how people behave—yet, it cannot be assumed that rules are always followed. To address …
In this paper, we propose a novel approach for agent motion prediction in cluttered environments. One of the main challenges in predicting agent motion is accounting for location and context-specific information. Our main contribution is the concept …
Most autonomous driving solutions require some method of localization within their environment. Typically, onboard sensors are used to localize the vehicle precisely in a previously recorded map. However, these solutions are sensitive to ambient …
In this work, we present a data-driven simulation and training engine capable of learning end-to-end autonomous vehicle control policies using only sparse rewards. By leveraging real, human-collected trajectories through an environment, we render …
In this work, we present MapLite. a one-click autonomous navigation system capable of piloting a vehicle to an arbitrary desired destination point given only a sparse publicly available topometric map (from OpenStreetMap). The onboard sensors are …