The autonomous driving community has witnessed a rapid growth in approaches that embrace an end-to-end algorithm framework, utilizing raw sensor input to generate vehicle motion plans, instead of concentrating on individual tasks such as detection and motion prediction. End-to-end systems, in comparison to modular pipelines, benefit from joint feature optimization for perception and planning. This field has flourished due to the availability of large-scale datasets, closed-loop evaluation, and the increasing need for autonomous driving algorithms to perform effectively in challenging scenarios. In this survey, we provide a comprehensive analysis of more than 250 papers, covering the motivation, roadmap, methodology, challenges, and future trends in end-to-end autonomous driving. We delve into several critical challenges, including multi-modality, interpretability, causal confusion, robustness, and world models, amongst others. Additionally, we discuss current advancements in foundation models and visual pre-training, as well as how to incorporate these techniques within the end-to-end driving framework. To facilitate future research, we maintain an active repository that contains up-to-date links to relevant literature and open-source projects at https://github.com/OpenDriveLab/End-to-end-Autonomous-Driving.

pdf/end-to-end-autonomous-driving-challenges-and-frontiers-1ts2vhvq.pdf

End-to-end Autonomous Driving: Challenges and Frontiers

TensorCircuit is an open source quantum circuit simulator based on tensor network contraction, designed for speed, flexibility and code efficiency. Written purely in Python, and built on top of industry-standard machine learning frameworks, TensorCircuit supports automatic differentiation, just-in-time compilation, vectorized parallelism and hardware acceleration. These features allow TensorCircuit to simulate larger and more complex quantum circuits than existing simulators, and are especially suited to variational algorithms based on parameterized quantum circuits. TensorCircuit enables orders of magnitude speedup for various quantum simulation tasks compared to other common quantum software, and can simulate up to 600 qubits with moderate circuit depth and low-dimensional connectivity. With its time and space efficiency, flexible and extensible architecture and compact, user-friendly API, TensorCircuit has been built to facilitate the design, simulation and analysis of quantum algorithms in the Noisy Intermediate-Scale Quantum (NISQ) era.

/pdf/tensorcircuit-a-quantum-software-framework-for-the-nisq-era-1e7gjrek.pdf

TensorCircuit: a Quantum Software Framework for the NISQ Era

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing systems struggle to simultaneously meet both requirements. Indeed, we find that these tasks are fundamentally misaligned and should be addressed independently. We further assess the current state of closed-loop planning in the field, revealing the limitations of learning-based methods in complex real-world scenarios and the value of simple rule-based priors such as centerline selection through lane graph search algorithms. More surprisingly, for the open-loop sub-task, we observe that the best results are achieved when using only this centerline as scene context (\ie, ignoring all information regarding the map and other agents). Combining these insights, we propose an extremely simple and efficient planner which outperforms an extensive set of competitors, winning the nuPlan planning challenge 2023.

pdf/parting-with-misconceptions-about-learning-based-vehicle-38i1c0kp.pdf

Parting with Misconceptions about Learning-based Vehicle Motion Planning

We present C$\cdot$ASE, an efficient and effective framework that learns conditional Adversarial Skill Embeddings for physics-based characters. Our physically simulated character can learn a diverse repertoire of skills while providing controllability in the form of direct manipulation of the skills to be performed. C$\cdot$ASE divides the heterogeneous skill motions into distinct subsets containing homogeneous samples for training a low-level conditional model to learn conditional behavior distribution. The skill-conditioned imitation learning naturally offers explicit control over the character's skills after training. The training course incorporates the focal skill sampling, skeletal residual forces, and element-wise feature masking to balance diverse skills of varying complexities, mitigate dynamics mismatch to master agile motions and capture more general behavior characteristics, respectively. Once trained, the conditional model can produce highly diverse and realistic skills, outperforming state-of-the-art models, and can be repurposed in various downstream tasks. In particular, the explicit skill control handle allows a high-level policy or user to direct the character with desired skill specifications, which we demonstrate is advantageous for interactive character animation.

pdf/c-cdot-ase-learning-conditional-adversarial-skill-embeddings-k38pn97elx.pdf

C$\cdot$ASE: Learning Conditional Adversarial Skill Embeddings for Physics-based Characters

Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data from the graphics community in a Reinforcement Learning framework. However, directly performing imitation learning with the motion capture dataset would not work on the real humanoid robot, given the large gap in degrees of freedom and physical capabilities. Our method Expressive Whole-Body Control (Exbody) tackles this problem by encouraging the upper humanoid body to imitate a reference motion, while relaxing the imitation constraint on its two legs and only requiring them to follow a given velocity robustly. With training in simulation and Sim2Real transfer, our policy can control a humanoid robot to walk in different styles, shake hands with humans, and even dance with a human in the real world. We conduct extensive studies and comparisons on diverse motions in both simulation and the real world to show the effectiveness of our approach. 

Expressive Whole-Body Control for Humanoid Robots

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of movement that captures the complexity and diversity of human motion, and enables direct control over character movements. The approach jointly learns a control policy and a motion encoder that reconstructs key characteristics of a given motion without merely replicating it. The results show that CALM learns a semantic motion representation, enabling control over the generated motions and style-conditioning for higher-level task training. Once trained, the character can be controlled using intuitive interfaces, akin to those found in video games.

/pdf/calm-conditional-adversarial-latent-models-for-directable-1g0yi4zs.pdf

CALM: Conditional Adversarial Latent Models for Directable Virtual Characters

Quantum Computing (QC) stands to revolutionize computing, but is currently still limited. To develop and test quantum algorithms today, quantum circuits are often simulated on classical computers. Simulating a complex quantum circuit requires computing the contraction of a large network of tensors. The order (path) of contraction can have a drastic effect on the computing cost, but finding an efficient order is a challenging combinatorial optimization problem. We propose a Reinforcement Learning (RL) approach combined with Graph Neural Networks (GNN) to address the contraction ordering problem. The problem is extremely challenging due to the huge search space, the heavy-tailed reward distribution, and the challenging credit assignment. We show how a carefully implemented RL-agent that uses a GNN as the basic policy construct can address these challenges and obtain significant improve-ments over state-of-the-art techniques in three varieties of circuits, including the largest scale networks used in contemporary QC.

Optimizing Tensor Network Contraction Using Reinforcement Learning

We present a novel robust policy gradient method (RPG) for s -rectangular robust Markov Decision Processes (MDPs). We are the ﬁrst to derive the adversarial kernel in a closed form and demonstrate that it is a one-rank perturbation of the nominal kernel. This allows us to derive an RPG that is similar to the one used in non-robust MDPs, except with a robust Q-value function and an additional correction term. Both robust Q-values and correction terms are eﬃciently computable, thus the time complexity of our method matches that of non-robust MDPs, which is signiﬁcantly faster compared to existing black box methods.

Policy Gradient for s-Rectangular Robust Markov Decision Processes

Explainability-based Trust Algorithm for electricity price forecasting models

The space of value functions is a fundamental concept in reinforcement learning. Characterizing its geometric properties may provide insights for optimization and representation. Existing works mainly focus on the value space for Markov Decision Processes (MDPs). In this paper, we study the geometry of the robust value space for the more general Robust MDPs (RMDPs) set-ting, where transition uncertainties are considered. Speciﬁcally, since we ﬁnd it hard to directly adapt prior approaches to RMDPs, we start with revisiting the non-robust case, and introduce a new perspective that enables us to characterize both the non-robust and robust value space in a similar fashion. The key of this perspective is to decompose the value space, in a state-wise manner, into unions of hypersurfaces. Through our analysis, we show that the robust value space is determined by a set of conic hypersurfaces , each of which contains the robust values of all policies that agree on one state. Furthermore, we ﬁnd that taking only extreme points in the uncertainty set is sufﬁcient to determine the robust value space. Finally, we discuss some other aspects about the robust value space, including its non-convexity and policy agreement on multiple states.

The Geometry of Robust Value Functions

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