InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers

Planning and prediction are two important modules of autonomous driving and have experienced tremendous advancement recently. Nevertheless, most existing methods regard planning and prediction as independent and ignore the correlation between them, leading to the lack of consideration for interaction and dynamic changes of traffic scenarios. To address this challenge, we propose InteractionNet, which leverages transformer to share global contextual reasoning among all traffic participants to capture interaction and interconnect planning and prediction to achieve joint. Besides, InteractionNet deploys another transformer to help the model pay extra attention to the perceived region containing critical or unseen vehicles. InteractionNet outperforms other baselines in several benchmarks, especially in terms of safety, which benefits from the joint consideration of planning and forecasting. The code will be available at https://github.com/fujiawei0724/InteractionNet.

Complementing Onboard Sensors with Satellite Map: A New Perspective for HD Map Construction

High-Definition (HD) maps play a crucial role in autonomous driving systems. Recent methods have attempted to construct HD maps in real-time based on information obtained from vehicle onboard sensors. However, the performance of these methods is significantly susceptible to the environment surrounding the vehicle due to the inherent limitation of onboard sensors, such as weak capacity for long-range detection. In this study, we demonstrate that supplementing onboard sensors with satellite maps can enhance the performance of HD map construction methods, leveraging the broad coverage capability of satellite maps. For the purpose of further research, we release the satellite map tiles as a complementary dataset of nuScenes dataset. Meanwhile, we propose a hierarchical fusion module that enables better fusion of satellite maps information with existing methods. Specifically, we design an attention mask based on segmentation and distance, applying the cross-attention mechanism to fuse onboard Bird's Eye View (BEV) features and satellite features in feature-level fusion. An alignment module is introduced before concatenation in BEV-level fusion to mitigate the impact of misalignment between the two features. The experimental results on the augmented nuScenes dataset showcase the seamless integration of our module into three existing HD map construction methods. It notably enhances their performance in both HD map semantic segmentation and instance detection tasks.

Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing

Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems often require hand-engineered components for state estimation, planning, and control. Such a sequential design involves laborious tuning, human heuristics, and compounding delays and errors. This paper tackles the vision-based autonomous-drone-racing problem by learning deep sensorimotor policies. We use contrastive learning to extract robust feature representations from the input images and leverage a two-stage learning-by-cheating framework for training a neural network policy. The resulting policy directly infers control commands with feature representations learned from raw images, forgoing the need for globally-consistent state estimation, trajectory planning, and handcrafted control design. Our experimental results indicate that our vision-based policy can achieve the same level of racing performance as the state-based policy while being robust against different visual disturbances and distractors. We believe this work serves as a stepping-stone toward developing intelligent vision-based autonomous systems that control the drone purely from image inputs, like human pilots.