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While autonomous cars are rapidly becoming a reality, it remains a challenge to scalably deploy them across geographies and conditions. Our full-stack autonomy solutions include perception, prediction, planning, simulation and devops that leverage latest advances in generative AI, neural rendering, large language models, diffusion models and transformers. These solutions are deployed on an autonomous car platform with a multi-sensor suite including cameras, Lidars, radars and GNSS units.
Team Members: Abhishek Aich, Adarsh Modh, Francesco Pittaluga, Turgun Kashgari, Ziyu Jiang, and Zaid Tasneem.
Publication Tags (project tag): iris car, iris sim, autonomous driving, autonomous vehicles
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.
Autonomous vehicle (AV) systems rely on robust perception models as a cornerstone of safety assurance. However, objects encountered on the road exhibit a long-tailed distribution, with rare or unseen categories posing challenges to a deployed perception model. This necessitates an expensive process of
The perception of 3D motion of surrounding traffic participants is crucial for driving safety. While existing works primarily focus on general large motions, we contend that the instantaneous detection and quantification of subtle motions is equally important as they indicate the nuances in driving behavior
Photorealistic simulation plays a crucial role in applications such as autonomous driving, where advances in neural radiance fields (NeRFs) may allow better scalability through the automatic creation of digital 3D assets. However, reconstruction quality suffers on street scenes due to largely collinear
We aim to address key challenges in long-horizon embodied exploration and navigation by proposing a long-horizon object transport task called Long-HOT and a novel modular framework for temporally extended navigation. Agents in Long-HOT need to efficiently find and pick up target objects that are scattered
Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based planners suffer from overfitting and poor long-tail performance. On
Monocular 3D object localization in driving scenes is a crucial task, but challenging due to its ill-posed nature. Estimating 3D coordinates for each pixel on the object surface holds great potential as it provides dense 2D-3D geometric constraints for the underlying PnP problem. However, high-quality
We propose an end-to-end network that takes a single perspective RGB image of a complex road scene as input, to produce occlusion-reasoned layouts in perspective space as well as a parametric bird’s-eye-view (BEV) space. In contrast to prior works that require dense supervision such as semantic labels
Trajectory prediction is a safety-critical tool for autonomous vehicles to plan and execute actions. Our work addresses two key challenges in trajectory prediction, learning multimodal outputs, and better predictions by imposing constraints using driving knowledge. Recent methods have achieved strong
We propose advances that address two key challenges in future trajectory prediction: (i) multimodality in both training data and predictions and (ii) constant time inference regardless of number of agents. Existing trajectory predictions are fundamentally limited by lack of diversity in training data,
We introduce a novel dataset for high-level 3D scene understanding of complex road scenes. Our annotations extend the existing datasets KITTI [5] and nuScenes [1] with semantically and geometrically meaningful attributes like the number of lanes or the existence of, and distance to, intersections, sidewalks
In this paper, we address the problem of inferring the layout of complex road scenes given a single camera as input. To achieve that, we first propose a novel parameterized model of road layouts in a top-view representation, which is not only intuitive for human visualization but also provides an interpretable
Simulation is a useful tool in situations where training data for machine learning models is costly to annotate or even hard to acquire. In this work, we propose a reinforcement learning-based method for automatically adjusting the parameters of any (non-differentiable) simulator, thereby controlling
