7 accepted papers
Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with the student similar to a human teacher. However, training su
Non-cooperative interactions commonly occur in multi-agent scenarios such as car racing, where an ego vehicle can choose to overtake the rival, or stay behind it until a safe overtaking “corridor” opens. While an expert human can do well at making such time-sensitive decisions, autonomous agents are
This letter introduces a preference learning method that ensures adherence to given specifications, with an application to autonomous vehicles. Our approach incorporates the priority ordering of Signal Temporal Logic (STL) formulas describing traffic rules into a learning framework. By leveraging Pa
Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In this letter, we propose a novel multi-task intent recogniti
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 this challenge, we evaluate different approaches of i
Vehicle trajectory prediction is crucial for autonomous driving and advanced driver assistant systems. While existing approaches may sample from a predicted distribution of vehicle trajectories, they lack the ability to explore it - a key ability for evaluating safety from a planning and verificatio
We present a new framework for reactive synthesis that considers the dynamics of the robot when synthesizing correct-by-construction controllers for nonlinear systems. Many high-level synthesis approaches employ discrete abstractions to reason about the dynamics of the continuous system in a simplif…