Developing autonomous vehicles that can safely interact with pedestrians requires large amounts of pedestrian and vehicle data in order to learn accurate pedestrian-vehicle interaction models. However, gathering data that include crucial but rare scenarios - such as pedestrians jaywalking into heavy traffic - can be costly and unsafe to collect. We propose a virtual reality human-in-the-loop simulator, JaywalkerVR, to obtain vehicle-pedestrian interaction data to address these challenges. Our system enables efficient, affordable, and safe collection of long-tail pedestrian-vehicle interaction data. Using our proposed simulator, we create a high-quality dataset with vehicle-pedestrian interaction data from safety critical scenarios called CARLA-VR. The CARLA-VR dataset addresses the lack of long-tail data samples in commonly used real world autonomous driving datasets. We demonstrate that models trained with CARLA-VR improve displacement error and collision rate by 10.7% and 4.9%, respectively, and are more robust in rare vehicle-pedestrian scenarios.
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IFIP TC13 Conference on Human-Computer Interaction是人機交互領域的研究者和實踐者展示其工作的重要平臺。多年來，這些會議吸引了來自幾個國家和文化的研究人員。官網鏈接： ·
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Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse robot platforms has become more crucial than ever. However, there is a notable lack of cost-effective and user-friendly teleoperation systems for different end-effectors, e.g., anthropomorphic robot hands and grippers, that can operate across multiple platforms. To address this issue, we develop ACE, a cross-platform visual-exoskeleton system for low-cost dexterous teleoperation. Our system utilizes a hand-facing camera to capture 3D hand poses and an exoskeleton mounted on a portable base, enabling accurate real-time capture of both finger and wrist poses. Compared to previous systems, which often require hardware customization according to different robots, our single system can generalize to humanoid hands, arm-hands, arm-gripper, and quadruped-gripper systems with high-precision teleoperation. This enables imitation learning for complex manipulation tasks on diverse platforms.
Surrounding perceptions are quintessential for safe driving for connected and autonomous vehicles (CAVs), where the Bird's Eye View has been employed to accurately capture spatial relationships among vehicles. However, severe inherent limitations of BEV, like blind spots, have been identified. Collaborative perception has emerged as an effective solution to overcoming these limitations through data fusion from multiple views of surrounding vehicles. While most existing collaborative perception strategies adopt a fully connected graph predicated on fairness in transmissions, they often neglect the varying importance of individual vehicles due to channel variations and perception redundancy. To address these challenges, we propose a novel Priority-Aware Collaborative Perception (PACP) framework to employ a BEV-match mechanism to determine the priority levels based on the correlation between nearby CAVs and the ego vehicle for perception. By leveraging submodular optimization, we find near-optimal transmission rates, link connectivity, and compression metrics. Moreover, we deploy a deep learning-based adaptive autoencoder to modulate the image reconstruction quality under dynamic channel conditions. Finally, we conduct extensive studies and demonstrate that our scheme significantly outperforms the state-of-the-art schemes by 8.27\% and 13.60\%, respectively, in terms of utility and precision of the Intersection over Union.
Rescue robotics sets high requirements to perception algorithms due to the unstructured and potentially vision-denied environments. Pivoting Frequency-Modulated Continuous Wave radars are an emerging sensing modality for SLAM in this kind of environment. However, the complex noise characteristics of radar SLAM makes, particularly indoor, applications computationally demanding and slow. In this work, we introduce a novel radar SLAM framework, RaNDT SLAM, that operates fast and generates accurate robot trajectories. The method is based on the Normal Distributions Transform augmented by radar intensity measures. Motion estimation is based on fusion of motion model, IMU data, and registration of the intensity-augmented Normal Distributions Transform. We evaluate RaNDT SLAM in a new benchmark dataset and the Oxford Radar RobotCar dataset. The new dataset contains indoor and outdoor environments besides multiple sensing modalities (LiDAR, radar, and IMU).
Traditional methods for making software deployment decisions in the automotive industry typically rely on manual analysis of tabular software test data. These methods often lead to higher costs and delays in the software release cycle due to their labor-intensive nature. Large Language Models (LLMs) present a promising solution to these challenges. However, their application generally demands multiple rounds of human-driven prompt engineering, which limits their practical deployment, particularly for industrial end-users who need reliable and efficient results. In this paper, we propose GoNoGo, an LLM agent system designed to streamline automotive software deployment while meeting both functional requirements and practical industrial constraints. Unlike previous systems, GoNoGo is specifically tailored to address domain-specific and risk-sensitive systems. We evaluate GoNoGo's performance across different task difficulties using zero-shot and few-shot examples taken from industrial practice. Our results show that GoNoGo achieves a 100% success rate for tasks up to Level 2 difficulty with 3-shot examples, and maintains high performance even for more complex tasks. We find that GoNoGo effectively automates decision-making for simpler tasks, significantly reducing the need for manual intervention. In summary, GoNoGo represents an efficient and user-friendly LLM-based solution currently employed in our industrial partner's company to assist with software release decision-making, supporting more informed and timely decisions in the release process for risk-sensitive vehicle systems.
In this paper, we propose a novel Risk-Aware Local Trajectory Planner (RALTPER) for autonomous vehicles in complex environments characterized by Gaussian uncertainty. The proposed method integrates risk awareness and trajectory planning by leveraging probabilistic models to evaluate the likelihood of collisions with dynamic and static obstacles. The RALTPER focuses on collision avoidance constraints for both the ego vehicle region and the Gaussian-obstacle risk region. Additionally, this work enhances the generalization of both vehicle and obstacle models, making the planner adaptable to a wider range of scenarios. Our approach formulates the planning problem as a nonlinear optimization, solved using the IPOPT solver within the CasADi environment. The planner is evaluated through simulations of various challenging scenarios, including complex, static, mixed environment and narrow single-lane avoidance of pedestrians. Results demonstrate that RALTPER achieves safer and more efficient trajectory planning particularly in navigating narrow areas where a more accurate vehicle profile representation is critical for avoiding collisions.
With the increasing adoption of autonomous vehicles, ensuring the reliability of autonomous driving systems (ADSs) deployed on autonomous vehicles has become a significant concern. Driving simulators have emerged as crucial platforms for testing autonomous driving systems, offering realistic, dynamic, and configurable environments. However, existing simulation-based ADS testers have largely overlooked the reliability of the simulators, potentially leading to overlooked violation scenarios and subsequent safety security risks during real-world deployment. In our investigations, we identified that collision detectors in simulators could fail to detect and report collisions in certain collision scenarios, referred to as ignored collision scenarios. This paper aims to systematically discover ignored collision scenarios to improve the reliability of autonomous driving simulators. To this end, we present ICSFuzz, a black-box fuzzing approach to discover ignored collision scenarios efficiently. Drawing upon the fact that the ignored collision scenarios are a sub-type of collision scenarios, our approach starts with the determined collision scenarios. Following the guidance provided by empirically studied factors contributing to collisions, we selectively mutate arbitrary collision scenarios in a step-wise manner toward the ignored collision scenarios and effectively discover them. We compare ICSFuzz with DriveFuzz, a state-of-the-art simulation-based ADS testing method, by replacing its oracle with our ignored-collision-aware oracle. The evaluation demonstrates that ICSFuzz outperforms DriveFuzz by finding 10-20x more ignored collision scenarios with a 20-70x speedup. All the discovered ignored collisions have been confirmed by developers with one CVE ID assigned.
The utilization of automated depression detection significantly enhances early intervention for individuals experiencing depression. Despite numerous proposals on automated depression detection using recorded clinical interview videos, limited attention has been paid to considering the hierarchical structure of the interview questions. In clinical interviews for diagnosing depression, clinicians use a structured questionnaire that includes routine baseline questions and follow-up questions to assess the interviewee's condition. This paper introduces HiQuE (Hierarchical Question Embedding network), a novel depression detection framework that leverages the hierarchical relationship between primary and follow-up questions in clinical interviews. HiQuE can effectively capture the importance of each question in diagnosing depression by learning mutual information across multiple modalities. We conduct extensive experiments on the widely-used clinical interview data, DAIC-WOZ, where our model outperforms other state-of-the-art multimodal depression detection models and emotion recognition models, showcasing its clinical utility in depression detection.
Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of controllability and realism; they also neglect the dynamics of agent interactions. To address these limitations, we introduce SAFE-SIM, a novel diffusion-based controllable closed-loop safety-critical simulation framework. Our approach yields two distinct advantages: 1) generating realistic long-tail safety-critical scenarios that closely reflect real-world conditions, and 2) providing controllable adversarial behavior for more comprehensive and interactive evaluations. We develop a novel approach to simulate safety-critical scenarios through an adversarial term in the denoising process of diffusion models, which allows an adversarial agent to challenge a planner with plausible maneuvers while all agents in the scene exhibit reactive and realistic behaviors. Furthermore, we propose novel guidance objectives and a partial diffusion process that enables users to control key aspects of the scenarios, such as the collision type and aggressiveness of the adversarial agent, while maintaining the realism of the behavior. We validate our framework empirically using the nuScenes and nuPlan datasets across multiple planners, demonstrating improvements in both realism and controllability. These findings affirm that diffusion models provide a robust and versatile foundation for safety-critical, interactive traffic simulation, extending their utility across the broader autonomous driving landscape. Project website: //safe-sim.github.io/.
For autonomous driving in highly dynamic environments, it is anticipated to predict the future behaviors of surrounding vehicles (SVs) and make safe and effective decisions. However, modeling the inherent coupling effect between the prediction and decision-making modules has been a long-standing challenge, especially when there is a need to maintain appropriate computational efficiency. To tackle these problems, we propose a novel integrated intention prediction and decision-making approach, which explicitly models the coupling relationship and achieves efficient computation. Specifically, a spectrum attention net is designed to predict the intentions of SVs by capturing the trends of each frequency component over time and their interrelations. Fast computation of the intention prediction module is attained as the predicted intentions are not decoded to trajectories in the executing process. Furthermore, the proximal policy optimization (PPO) algorithm is employed to address the non-stationary problem in the framework through a modest policy update enabled by a clipping mechanism within its objective function. On the basis of these developments, the intention prediction and decision-making modules are integrated through joint learning. Experiments are conducted in representative traffic scenarios, and the results reveal that the proposed integrated framework demonstrates superior performance over several deep reinforcement learning (DRL) baselines in terms of success rate, efficiency, and safety in driving tasks.
Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.
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