Autonomous driving自动驾驶

Autonomous vehicles in enclosed spaces such as tunnels and mines rely on range maps that smoke, dust and fog make inaccurate. Conformal prediction calibrates a keepout around the mapped walls that covers the true unsafe set at a chosen probability. Typically an unmodified planner treats the keepout as an inflated obstacle, and nothing ensures that the vehicle can stop before the keepout as it moves when sensing degrades. In narrow passages this margin and the planner's buffer close the route, and existing remedies recover reach by relaxing the coverage level. This paper conditions the …

Reliable real-time 3D object detection based on LiDAR and camera data is critical for safety in autonomous driving, where systems must accurately perceive their surroundings with minimal latency. Many state-of-the-art systems achieve high-quality detection results but fail to meet real-time constraints, limiting their practical use. To address this challenge, we propose FastBEVFusion, a simple, fast, and robust fusion system for 3D object detection. Based on modality-specific features, FastBEVFusion projects these features into semi-aligned modality-specific BEV spaces, without relying on a …

Self-driving laboratories (SDLs) are laboratory systems that couple experimental planning, automated execution, and measurement feedback in a closed loop. Integrating flexible robot control with the typed application programming interfaces (APIs) and continuous measurements exposed by laboratory instruments remains an execution-interface challenge. To address this challenge, we propose a traceable framework comprising four components: LAM (Lab Action Model), OpenSDL, Safe-SDL, and L3-Bench. LAM is a proposed measurement-conditioned policy architecture that extends vision-language-action …

Independently developed autonomous agents, such as autonomous vehicles, must guarantee joint compatibility, such as safety and task-completion requirements, when they operate in a shared environment. Existing methods require a centrally designed specification, or interaction mechanism before any agent is deployed. However, such centralized design is unrealistic when agent designs are confidential to their developers, and it is not flexible enough to accommodate future agent designs. We study a bi-level structure in which a regulator coordinates developers by publishing seed agents, and each …

Coding agents can adapt robotic software by revising executable programs, but successful responses to an evolving opponent may not remain effective. We present a framework for program-level adversarial co-adaptive self-play in which coding agents generate attacks and defenses from tested opponent code and mission feedback, without model fine-tuning. Environment-specific interfaces support external programs for autonomous driving and SDK-level defenses for humanoid locomotion. Two eight-generation case studies reveal concrete software responses: a driving defender introduces direct-actuation …

End-to-end autonomous driving has predominantly relied on open-loop imitation learning for training, which presents two limitations. First, expert demonstrations show only one behavior per scenario, so the model cannot learn alternative valid behaviors and, in turn, cannot adapt to user-specified preferences at test time. Second, noise or ambiguity in these demonstrations can produce inconsistent, unreliable supervision for the end-to-end models. Driving is inherently multi-modal: multiple different behaviors can be valid responses to the same scene, and this diversity arises largely from …

Direct-policy World Action Models (WAM) have demonstrated the benefits of decoupling action generation from explicit future visual prediction for efficient inference in autonomous driving and embodied control. However, they still require tens of denoising steps to achieve competitive action quality, incurring substantial latency and hindering real-time deployment. Simply reducing the number of denoising steps will collapse the nonlinear multi-step denoising trajectory into coarse updates, substantially degrading action quality. To reduce the denoising steps while enabling real-time action …

In autonomous driving, robot teleoperation serves as a critical safety fallback mechanism, requiring operators to assume direct control in the event of system failure. While recent research has pivoted toward high-level supervisory control or simulation-based studies, these approaches often fail to capture the physical dynamics and sensory demands of driving a full-scale vehicle. To address this gap, we evaluated the impact of spatial data representation on operator performance using a real car-sized vehicle in a field experiment with $N = 18$ participants. We compared three visualization …

End-to-end driving models perform well on standard benchmarks but collide frequently in safety-critical scenarios. We present a failure-mode analysis on NeuroNCAP which shows that 95.9% of DiffusionDrive's collisions are planning failures despite reliable detection, pinpointing the bottleneck in planning rather than perception. We attribute this to a fundamental data imbalance, as safety-critical interactions are rare in real driving logs, so planners are hardly ever trained on them. We close this gap with a novel model-aware framework that generates safety-critical training scenes against a …

Achieving safety in autonomous driving through Multi-Agent Reinforcement Learning (MARL) is a critical yet challenging task due to non-stationarity, partial observability, and the need for effective coordination among agents. Although earlier cooperative MARL methods have aimed to improve coordination by sharing encoded state observations, we find these strategies are insufficient in safety-critical scenarios. To address this gap, we present IntNet, a novel MARL framework that enhances safety by incorporating the transmission of vehicle intent and adaptive communication scheduling into a …

Simulation is widely used in autonomous-driving validation, but matching task outputs between real and synthetic images does not guarantee that a system relies on the same visual evidence. This creates a validation gap for transfer, especially in safety-critical perception functions. We present Concept-Decisive Feature Fidelity (C-DFF), a concept-level mechanism-parity diagnostic for paired real-synthetic evaluation. Starting from decisive evidence extracted from a frozen system-under-test (SUT), C-DFF projects that evidence into a shared semantic concept space using off-the-shelf …

Autonomous vehicles (AVs) operating in dynamic, challenging conditions such as intersections and roundabouts must guarantee collision avoidance under uncertainty while maintaining real-time feasibility. Most existing planners struggle to simultaneously guarantee both requirements. Chance-constrained formulations embed safety constraints directly in the optimization but become infeasible as uncertainty compounds; deterministic planners provide feasible solutions but fail to address the uncertainty that causes collisions; end-to-end learned policies provide neither guarantee in an interpretable …

Achieving accurate, real-time lane-keeping control during high-speed cornering on large-curvature roads while ensuring robust vehicle stability is a critical challenge in autonomous driving. To address this challenge, this study developed a robust offset-free model predictive control (OF-MPC) framework for vision-based autonomous vehicle lane-keeping. The regulation problem in this framework is solved using several algorithms. Numerical simulation results indicated that the interpolation-tube-based constrained iterative linear quadratic regulator (itube-CILQR) algorithm outperformed solvers …

Driving vision-language-action (VLA) models bring an appealing form of explainability to a safety-critical domain, since a system that can state the reasons for its maneuvers offers the transparency that deployment and public trust in autonomous driving demand. These models read the world into language before they act on it, describing the scene and reasoning over it in text that ranges from chain-of-thought to multi-stage question answering on the way to a trajectory. That framing quietly assumes two separable properties, namely that the trajectory follows the generated reasoning and that …

Modern autonomous Cyber-Physical Systems (CPSs), such as self-driving cars, operate in increasingly complex environments while expected to maintain high reliability. The black-box nature of many of these systems makes it impossible to fully verify their behavior prior to deployment. When a failure occurs, it is important to analyze it to guide improvements to system robustness. A recent work introduced the novel concept of leveraging the framework of actual causality for CPS failure explanation. However, that work considered only a discrete, binary causal model that cannot capture continuous …

Predicting surrounding vehicles' lane-change intentions enables autonomous vehicles to anticipate potential hazards and respond proactively rather than relying solely on reactive maneuvers. This study investigates the benefits of integrating lane-change prediction, based on knowledge graph embeddings and Bayesian inference, into autonomous vehicle decision-making. Three driving strategies are evaluated in risky merging scenarios simulated in CARLA: reactive driving, prediction-based longitudinal action, and prediction-based lateral action. The proposed prediction model anticipates the …

This paper presents an integrated control framework for high-speed platooning of articulated vehicles, combining advanced longitudinal and lateral control strategies to address the challenges of safe and efficient autonomous driving. A novel proof of string stability for the proposed longitudinal control algorithm, based on a PID framework, ensures robust inter-vehicle distance regulation even under dynamic operating conditions. Additionally, an arc-length-based longitudinal error formulation enhances the applicability of the control system for curved roads, making it realistic for diverse …

End-to-end autonomous driving has achieved state-of-the-art performance on benchmarks and real-world deployments. Its standard training recipe, however, is expensive across all existing paradigms: imitation learning requires fleet-scale driving logs whose behavior distribution only thinly covers the safety-critical tail; closed-loop reinforcement learning in a photorealistic simulator, while offering diverse behaviors, is bottlenecked by sample-efficiency, per-step cost of rendering, and a forward pass through a large vision backbone. Self-play in vectorized simulators changes the economics: …

Learning motion planning policies that remain reliable under closed-loop execution is a central challenge in Autonomous Driving (AD). Imitation Learning (IL) scales well to large AD datasets but suffers from distribution shift, causal confusion, and compounding errors under closed-loop execution. In contrast, Reinforcement Learning (RL) typically requires handcrafted rule-based rewards and massive simulation. We study a simple closed-loop IL framework that uses RL purely as an optimization tool, guided by a trajectory-distance reward derived from logged expert data. We refer to this training …

Most high-performing end-to-end autonomous driving agents (ADAs) are developed for the CARLA Leaderboard, tightly coupling them to CARLA's APIs, sensor layouts, coordinate systems, and internal clock. Reusing these models on real datasets, alternative simulators, or physical platforms necessitates substantial manual re-engineering. We present PCLA-Bridge, a deployable tool that runs unmodified CARLA Leaderboard agents from any sensor source to any control destination without an active CARLA server. With PCLA-Bridge handling dependency isolation, tensor marshalling, routing, and synthetic …

Connected and Autonomous Vehicles (CAVs) face significant challenges in roundabout navigation due to dense traffic interactions and unpredictable agent behaviors, necessitating high levels of adaptability and safety. While the combination of Reinforcement Learning (RL) and Model Predictive Control (MPC) offers a promising approach, existing frameworks suffer from a structural mismatch where pointwise RL decisions fail to align with MPC's trajectory level optimization, and often lack rigorous safety guarantees. This work proposes RLTrajGen-PPMPC-CBF, a hierarchical framework for safe, smooth …

Every driving scene is logged once, but driving is one-to-many: the scene determines which behaviors are feasible, while an instruction selects among them. A log records only the action taken, leaving no direct supervision for alternative feasible actions or instructions the scene cannot support. Consequently, a policy that ignores language and one that follows it without regard to scene constraints can fit the same data. We present Cartender, which learns from the drives not taken. Counterfactual Branching constructs matched and mismatched instruction-action pairs from real recordings …

Autonomous driving fundamentally demands dense understanding of visual, semantic, and geometric information, yet existing Vision-Language-Action (VLA) models are typically trained with sparse supervision such as language instructions or trajectory signals. This direct mapping from dense visual observations to sparse representations forces the model to compress or even discard critical scene information essential for safe driving. We argue that this limitation does not stem from insufficient model capacity, but from the lack of explicit mechanisms that encourage the formation of dense world …

Resource-constrained robots and autonomous vehicles need scene memories that localize a camera and render nearby views without a desktop GPU. Scene-coordinate regression (SCR) and 3D Gaussian splatting (3DGS) fit because they avoid an SfM stage, but ACEsplat-style pipelines are GPU-centered, and moving them to an edge FPGA is hard because SCR is pose-sensitive and 3DGS rendering is irregular and capacity-sensitive. We present LENS, an edge scene-memory acceleration system on the AMD KR260 that brings an ACEsplat-style workload to a low-power FPGA/ARM platform. Rather than proposing a new …

Vision-Language-Action (VLA) models offer a promising paradigm for autonomous driving. However, the massive parameter scale of VLAs strains onboard computational resources during real-time inference. This directly increases energy consumption and limits vehicle battery range, making it critical to minimize computational overhead without compromising driving capability and explainability. Current research on efficient VLA-based driving focuses on sequential adaptation (\textit{e.g.}, Chain-of-Thought and token adjustment), leaving structural adaptation underexplored despite parameter …

End-to-end autonomous driving systems have achieved rapid progress by learning unified policies that map sensor observations directly to driving trajectories. However, once deployed, these systems typically remain frozen: they may repeat similar decisions in similar scenes, and failures can only be addressed through costly data collection and retraining. This sharply contrasts with human drivers, who improve lifelong through experience, memory, and reflection. In this work, we ask whether autonomous driving systems can achieve similar post-deployment self-evolution to human drivers. We …

Diffusion models have become a dominant paradigm for end-to-end autonomous driving, yet existing planners organize trajectory generation along the Gaussian-noise axis, treating driving utility only as an auxiliary guidance or selection signal. We instead formulate diffusion along a driving-quality axis. We propose QualiDrive, which constructs scene-specific quality ladders by ranking observed trajectories according to measured driving utility and learns to reverse this ordered degradation through ordered low-to-high-quality refinement. Each reverse step is conditioned on the scene, ego state, …

Self-driving laboratories (SDLs) accelerate scientific discovery by automating experimental execution and optimization. AI agents can increasingly propose new experiments, but existing SDLs can only run the procedures they were built for. Adapting them to a new experiment still takes extensive manual engineering, which makes laboratory flexibility the bottleneck for scaling discovery. We introduce the self-building laboratory (SBL), which designs, configures, and operates its own laboratory setup given a high-level scientific goal. SBL starts from whatever already exists, from an empty room …

Candidate-based end-to-end driving planners reason over a finite set of trajectory hypotheses. However, for sparse planners, a limited candidate set may provide insufficient support for scene-relevant maneuvers, while fixed downstream candidate budgets do not account for prediction uncertainty. To address these challenges, we introduce Expand-and-Prune, a test-time framework that jointly adapts candidate support and capacity without updating learned parameters. The framework expands the native candidate set using semantic driving intent and temporally propagated predictions and then uses …

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 control (IARC). The upper layer solves a constrained optimal control problem to generate a feasible trajectory that satisfies all the constraints in a time-optimal manner along the desired path. The lower layer, IARC, adapts the unknown parameters related to friction uncertainty and …

Three dimensional modeling for autonomous driving must continuously estimate road geometry, obstacle occupancy, traffic participant behavior, and observational uncertainty under limited computational resources. Existing reconstruction methods can synthesize realistic novel views, but visual fidelity does not sufficiently characterize the geometric reliability required for driving. Generative world models can expand scenarios and predict future observations, yet may introduce content unsupported by measurements. We propose DriveWorld3D, a framework combining temporal video learning, …

Autonomous driving planning requires selecting trajectories that remain safe, rule-compliant, and comfortable under complex multi-agent interactions, yet robust closed-loop decision making in planning-critical scenes remains challenging. Existing diffusion- and RL-based planners often rely on generic rewards and use relational structure mainly for representation, limiting how planning-critical rollouts shape policy improvement. We present GRID-Planner, a graph--reward integrated diffusion planning framework that aligns generative planning with structured relational signals. Specifically, …

Vehicles that lose control at the handling limit through icing, hydroplaning, or an abrupt evasive maneuver fall outside the operating envelope of production safety systems such as electronic stability control, which focus on preventing instability rather than recovering from it. Expert drivers regain authority in these conditions by drifting. Existing autonomous recovery approaches are validated on idealized scenarios, define "recovered" states empirically and inconsistently, or rely on offline-planned trajectories rather than acting online. We address these gaps by first training a racing …

Vision-Language-Action (VLA) models are gaining attention in autonomous driving, inheriting commonsense priors from large language models (LLMs) and widening the navigation interface from a fixed command set to free-form natural-language instructions. However, this open-ended interface exposes a new vulnerability surface: an inattentive driver may issue instructions that are unsafe given the current scene, and a malicious user may issue dangerous ones on purpose. We present the first benchmark suite that evaluates navigation following and conflict awareness together, along with adversarial …

This paper investigates the use of Behavior Cloning (BC) for autonomous driving from a bird's-eye view (BEV) perspective in simulated urban environments. BC uses supervised learning to mimic expert driving behaviors. Previous works have applied BC in the CARLA simulator but did not fully address the challenges of traffic light compliance. Our approach enhances BC by integrating a kernel density estimator to adjust training sample weights based on action density, thereby improving the learning of rare but critical actions such as stopping at red lights and accelerating at green lights, …

Surface navigation on the Moon is subject to extreme illumination contrast and deployment-time perceptual disturbances. While modular navigation pipelines have long supported planetary rover navigation, robustness is compromised by measurement errors that propagate through hand-engineered components. End-to-end learned policies are an alternative approach to navigation, which maps observations directly to control actions without intermediate components. Vision-language-action models, in particular, have driven significant breakthroughs in robotics and autonomous vehicle research. By …

Safe autonomous driving requires more than accurate planning at a single frame: it demands reliable closed-loop execution in dynamic environments. Although end-to-end driving policies have advanced rapidly, the accumulated closed-loop errors, especially in unseen scenarios, can push vehicles into states from which the same policy struggles to recover. We address the challenge by treating closed-loop driving safety as a test-time execution problem. We introduce AutoAgent0, an agentic runtime and harness framework that augments existing driving experts with complementary detection skills, …

3D semantic occupancy prediction is crucial for autonomous driving, but camera-based methods degrade in low-light conditions and LiDAR-based methods are sensitive to adverse weather. 4D radar is more robust, yet its sparsity and the high cost of radar tensor processing limit its use. We propose Radar Geometric-Semantic Occupancy Prediction (RadarGSOcc), an efficient framework that directly processes 4D radar tensors by separately extracting geometric and semantic features, including Doppler information, with a deformable attention-based geometric refinement module as its key component. We …

End-to-end autonomous driving has achieved remarkable progress by planning trajectories directly from raw sensor data. Yet the step from planning to control still relies on hand-tuned tracking controllers that block the gradient path from vehicle motion back to the network. This gap stems from non-differentiable vehicle dynamics, aliased supervision from coarsely sampled expert labels, rate mismatch between high-rate control and low-rate re-planning, and vehicle model discrepancies between training and deployment. This paper proposes DIVA (Differentiable Identified Vehicle dynamics for …

Vision-Language Models (VLMs) and world models have demonstrated strong capabilities in semantic understanding and future scene evolution for autonomous driving. However, effectively integrating both capabilities for trajectory generation remains challenging. In this work, we propose DriveWLA, a unified World-Language-Action model based on Mixture-of-Transformers (MoT) that jointly models semantic understanding, future scene dynamics, and trajectory generation. DriveWLA consists of three experts: a World Expert for future prediction, a Language Expert for semantic understanding, and an Action …