Mauro Da Lio's research while affiliated with Università degli Studi di Trento and other places
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Publications (107)
This paper presents kinematics-structured neural networks (KS-NN) for the lateral speed estimation of vehicles. The internal structure of the networks is designed to incorporate the kinematic principles, enhancing the physical explainability and generalization capacity. Both the internal structure and training method are devised for better generali...
This paper proposes a neural network model that estimates the rotation angle of unknown objects from RGB images using an approach inspired by biological neural circuits. The proposed model embeds the understanding of rotational transformations into its architecture, in a way inspired by how rotation is represented in the ellipsoid body of Drosophil...
The deployment of autonomous driving technology is hindered by “corner cases”: unusual nuanced conditions that the self-driving software cannot understand and act fully. We argue that some corner cases originate from a “narrow AI” approach, which lacks the general knowledge that humans exploit when dealing with these cases. We propose an alternativ...
This paper focuses on the collaboration between human drivers and intelligent vehicles. We propose a collaboration mechanism grounded on the concept of distributed cognition. With distributed cognition, intelligence does not lie just in the single entity but also in the interaction with the other cognitive components in a system. We apply this idea...
This paper describes a means to produce emergent collaboration between a human driver and an artificial co-driver agent. The work exploits the hypothesis that human-human cooperation emerges from a shared understanding of the given context's affordances and emulates the same principle: the observation of one agent's behavior steers another agent's...
Driving requires the ability to handle unpredictable situations. Since it is not always possible to predict an impending danger, a good driver should preventively assess whether a situation has risks and adopt a safe behavior. Considering, in particular, the possibility of a pedestrian suddenly crossing the road, a prudent driver should limit the t...
Since the last decades, deep neural models have been pushing forward the frontiers of artificial intelligence. Applications that in the recent past were considered no more than utopian dreams, now appear to be feasible. The best example is autonomous driving. Despite the growing research aimed at implementing autonomous driving, no artificial intel...
Beta oscillations are readily observed in motor cortex and the basal ganglia, but to which extent they are functionally relevant is unclear. To understand how activity transfer between different nodes of the cortico-basal ganglia network is affected by cortical beta oscillations in different behavioural conditions, we recorded local field potential...
Evolution has endowed animals with outstanding adaptive behaviours which are grounded in the organization of their sensorimotor system. This paper uses inspiration from these principles of organization in the design of an artificial agent for autonomous driving. After distilling the relevant principles from biology, their functional role in the imp...
Mathematical models of vehicle dynamics will form essential components of future autonomous vehicles. They may be used within inverse or forward control loops, or within predictive learning systems. Often, nonlinear physical models are used in this context, which, though conceptually simple (especially for decoupled, longitudinal dynamics), may be...
This paper proposes a strategy for visual prediction in the context of autonomous driving. Humans, when not distracted or drunk, are still the best drivers you can currently find. For this reason we take inspiration from two theoretical ideas about the human mind and its neural organization. The first idea concerns how the brain uses a hierarchical...
![FIGURE 2. Cerebellar neural network wiring from [29].](publication/347447972/figure/fig2/AS:1001496455946242@1615786770992/Cerebellar-neural-network-wiring-from-29_Q320.jpg)
This paper presents a novel approach to learning predictive motor control via “mental simulations”. The method, inspired by learning via mental imagery in natural Cognition, develops in two phases: first, the learning of predictive models based on data recorded in the interaction with the environment; then, at a deferred time, the synthesis of inve...
This paper proposes a strategy for visual perception in the context of autonomous driving. Humans, when not distracted or drunk, are still the best drivers you can currently find. For this reason, we take inspiration from two theoretical ideas about the human mind and its neural organization. The first idea concerns how the brain uses structures of...
This paper studies a control architecture for vehicle lateral dynamics based on the execution of optimal trajectories via feedforward inverse model control. The focus here is on assessing the robustness of this arrangement when the vehicle real forward dynamics is not identically cancelled by the inverse model due to model approximations and parame...
In the last decades, the research in autonomous vehicles has greatly improved thanks to the success of artificial neural models. Yet, self-driving cars are far from reaching human performances. It is our opinion that would be wise to reflect on why the human brain is so effective in learning tasks as complex as the one of driving, and to try to tak...
This paper studies neural network models of vehicle dynamics. We consider both models with a generic layer architecture and models with specialised topologies that hard-wire physics principles. Network pre-wiring is limited to universal laws; hence it does not limit the network modelling abilities on one side but allows more robust and interpretabl...
Beta power suppression in the basal ganglia is stronger during movements that require high force levels and high movement effort but it has been difficult to dissociate the two. We recorded scalp EEG and basal ganglia local field potentials in Parkinson's disease patients (11 STN, 7 GPi) ON and OFF dopaminergic medication while they performed a vis...
This paper deals with (deep) neural network implementations of sensorimotor control for automated driving. We show how to construct complex behaviors by re-using elementary neural network building blocks that can be trained and tested extensively; one of our goals is to mitigate the "black box" and verifiability issues that affect end-to-end traine...
This paper addresses one of the key ideas embraced by the European funded H2020 research project Dreams4Cars: to borrow resemblances from the way humans learn to drive. We developed an artificial driving agent, called “Co-driver”, characterized by an architecture mimicking the fundamental components of the human brain involved in the learning of co...
This work explores the potential of relay-based control on a one-degree-of-freedom nonlinear mechanical system, in the contexts of both sustaining and damping oscillations. For both cases we state our main results building upon a simple reset formulation (relay feedback) and providing intuitive basic equations from classical mechanics. With a more...
This paper presents a principled approach to the modeling of human drivers--applied to stop behavior--by uniting recent ideas in cognitive science and optimal control. With respect to the former, we invoke the affordance competition hypothesis, according to which human behavior is produced by resolving the competition between action affordances tha...
This paper presents a cooperative intersection support system implemented with an artificial cognitive system enacted by an agent that replicates human driver longitudinal sensorimotor control in the application domain. The engineering of the agent exploits recent ideas from Cognitive Science, among which the notion of mirroring (the agent discover...
This work aims at estimating the longitudinal jerk of the vehicle as it is acted by a human driver, in the context of preventive safety. A reliable estimate is needed to infer the current driver intention in an advanced driving assistance system developed by the authors. The derived intention-oriented model for the longitudinal dynamics is embedded...
This paper focuses on the development of a novel Human Machine Interaction strategy based on Augmented Reality for the semi-autonomous navigation of a power wheelchair. The final goal is the development of a shared control, combining direct control by the user with the comfort of an autonomous navigation based on augmented reality markers. A first...
Statistical analysis.
PDF version of statistical analysis ipython notebook.
(PDF)
The study of action selection in humans can present challenges of task design since our actions are usually defined by many degrees of freedom and therefore occupy a large action-space. While saccadic eye-movement offers a more constrained paradigm for investigating action selection, the study of reach-and-grasp in upper limbs has often been define...
A list of omit reasons.
A list of the reasons for which it may have been impossible to extract a latency and error measurement for an event.
(PDF)
In AC/DC converters, a peculiar periodic nonsmooth waveform arises, the so-called ripple. In this paper we propose a novel model that captures this nonsmoothness by means of a hybrid dynamical system performing state jumps at certain switching instants, and we illustrate its properties with reference to a three phase diode bridge rectifier. As the...
Techniques for tracking the eyes took place since several decades for different applications that range from military, to education, entertainment and clinics. The existing systems are in general of two categories: precise but intrusive or comfortable but less accurate. The idea of this work is to calibrate an eye tracker of the second category. In...
In European Framework Programme 6, the Integrated Project PReVENT (www-prevent-ip.org) aimed at the development of new advanced driver assistance systems. Among these, the safe speed and safe distance functions have been developed in subproject SASPENCE and later integrated with other functions in subproject INSAFES. The safe speed and safe distanc...
We propose a model for representing a point mass subject to Coulomb friction in feedback with a PID controller, based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase. For this model we study the set of all equilibria and we establish its global asymptotic stability using a discontinuous L...
This paper focuses on the development of a gaze-based control strategy for semiautonomous wheelchairs. Starting from the information gathered by an eye tracker, the work aims to develop a novel paradigm of Human Computer Interaction (HCI) by means of a Virtual Reality (VR) environment, where specific motion metrics are evaluated.
We study the existence of asymptotically stable periodic trajectories induced
by reset feedback. The analysis is developed for a planar system. Casting the
problem into the hybrid setting, we show that a periodic orbit arises from the
balance between the energy dissipated during flows and the energy restored by
resets, at jumps. The stability of th...
The crossing of intersections controlled by traffic lights requires decision making: at the onset of yellow, drivers must quickly choose whether to stop or to pass and, in the latter case, with which speed. Sometimes drivers select the incorrect action, passing too late or performing sudden decelerations. This paper describes a driver support syste...
This paper describes a curve negotiation “behavior” that can be used—within subsumption architectures—to produce artificial agents with the ability to negotiate curves in a humanlike way. This may be used to implement functions spanning different levels of automation, from assistance (curve warning) to automated (curve speed control). This paper gi...
This paper presents a new motion capture (MoCap) system, the garment-based motion capture system—GaMoCap. The key feature is the use of an easily wearable garment printed with colour-coded pattern and a generic multicamera setup with standard video cameras. The coded pattern allows a high-density distribution of markers per unit of surface (about 4...
In this paper we propose a novel model of the ripple produced in different contexts involving switching power electronics. The novelty of this model is that the nonsmooth waveform characterizing the ripple is captured by a suitable hybrid dynamics performing state jumps at the switching instants. In addition to showing that this model is effective...
This position paper introduces the concept of artificial “co-drivers” as an enabling technology for future intelligent transportation systems. In Sections I and II, the design principles of co-drivers are introduced and framed within general human-robot interactions. Several contributing theories and technologies are reviewed, specifically those re...
This chapter starts with the question of assessing in an objective manner the intrinsic performance of a motorcycle or combined with its rider. The answer is found in the formulation of the task to complete a manoeuvre as an optimal control problem that minimizes a desired metric of the performance and possibly includes riding limitations, skills a...
This paper presents an architecture structured on hierarchical control levels - following the so-called "subsumption architecture" paradigm - as a convenient way to scale from Advanced Driver Assistance Systems (ADAS) to vehicles with automated driving and human-level interactions. Besides robustness, subsumption architectures are scalable, meaning...
![Figure 1: Test Route. An online version is available [47]](publication/271661602/figure/fig6/AS:271460291837953@1441732585152/Test-Route-An-online-version-is-available-47_Q320.jpg)
This paper presents an experimental investigation of human control of vehicles carried out on the basis of general theories on human movement. The longitudinal and lateral accelerations are studied, and their relations with theories of motor optimality principles, such as minimum jerk, minimum variance, and the two-thirds power law are highlighted....
In this work, we present the results of collaboration between an engineering department and a rehabilitation hospital in using innovative touch interfaces properly designed for both neurocognitive and physical rehabilitation. The novel touch interface also measures force, thereby enabling dexterity training through 'direct' manipulation of virtual...
Computerized interfaces are able to represent 3D immersive simulations. Most of them make use of joystick, mouse, gloves, or grasp pressure transducers. Those have the drawback of 'filtering' the user interaction and/or de-locate the touch with respect to the visual stimulus. To overcome this we developed dexterity rehabilitation games on a novel t...
This paper aims at stimulating the discussion on the future of Intelligent Vehicles. It is a position paper, indicating converging technologies that, in our opinion, will have to be used in future Intelligent Vehicles. We present a vision according to which Intelligent Vehicles will evolve into Human-peer Robots, here called Co-Drivers. Co-Drivers...
This paper introduces the use of measuring both position and force in interacting with a 2D interface for neuromotor performances assessment. The system measures directly 2D position and force in interacting with images generated by an LCD. By means of those 'primitive' measurements it is possible to develop tests which estimate: reaction time, mov...
A web based VRCC (Virtual Racing Car Championship) application is here presented. The application is intended for educational purposes to teach students a variety of topics of the teaching course “Vehicle Dynamics and Control” in Mechatronics Master Degree Course; the present application forces students to understand the relevant parameters that go...
This article illustrates a novel Curve Warning system for motorcycles which has been developed in the SAFERIDER project (www.saferider-eu.org) of the 7th EU FP, among other Advanced Rider Assistance Systems. The Curve Warning function (CW) described here follows
a holistic approach, which combines road geometry, motorcycle dynamics, rider input and...
Past research projects on intelligent vehicles have already led to the development of a large number of Advanced Driver Assistance Systems. The current research focus is now shifting towards integration and adaptive automation systems that share the control between driver and the machine. Artificial co-drivers can be used for this scope, as tutors...
The eight papers in this special section present some of the latest research developments and breakthroughs achieved in the area of active safety as a result of cooperation between key industrial and academic players all over Europe.
Going beyond standard lane-departure-avoidance systems, this paper addresses the development of a system that is able to deal with a large set of different traffic situations. Its foundation lies on a thoroughly constituted environment detection through which a decision system is built. From the output of the decision module, the driver is warned o...
This paper describes a novel driver-support system that helps to maintain the correct speed and headway (distance) with respect to lane curvature and other vehicles ahead. The system has been developed as part of the Integrating Project PReVENT under the European Framework Programme 6, which is named SAfe SPEed and safe distaNCE (SASPENCE). The app...
This paper deals with the integration of multiple advanced driver-assistance systems (ADAS) and in-vehicle information systems (IVIS) in a holistic driver-support system. The paper presents the results of a project named Integrated Safety Systems (INSAFES), which was part of PReVENT: an integrating project carried out under the European Framework P...
Summary The transfer functions of a motorcycle, especially that between roll angle and steering torque, qualify input-output characteristics - that is, motion produced as a function of steering torque - and are closely related to ease of use and handling. This paper describes the measurement of the transfer functions of a typical sports motorcycle,...
The LISA Technology Package (LTP) onboard the LISA Pathfinder mission aims to demonstrate, in orbit, several critical technology milestones for LISA, including the purest geodesic motion ever achieved for a macroscopic body. The gravitational reference sensor in the LTP hosts a heavy test mass (TM) surrounded by electrodes, at a relatively large 'g...
The requirements for the Laser Interferometer Space Antenna (LISA) test-mass (TM) release phase are analysed in view of the building up of a testing facility aimed at on-Earth qualification of the release mechanism. Accordingly, the release of the TM to free-fall must provide a linear momentum transferred to the TM not exceeding 10−5 kg m s−1. In o...
This work is part of a larger project aiming at the optimization of an hybrid electric vehicle with series design. The final objective of the optimization process is the identification of the most efficient vehicle management strategy in order to reduce the emissions, fuel consumption without deteriorating the batteries. In order to achieve this ob...
Measuring cylinders' out-of-roundness is still a big issue when high accuracy, high velocities or large cylinders are needed. The performance of the methods for roundness detection based on multi-probe scanning are strictly related to both the 3-D motion of the cylinders and the probes mounting configuration. Those effects are currently taken into...
The solution of constrained motion planning is an important task in a wide number of application fields. The real-time solution of such a problem, formulated in the framework of optimal control theory, is a challenging issue. We prove that a real-time solution of the constrained motion planning problem for multibody systems is possible for practica...
The solution of constrained motion planning is an important task in a wide number of application fields. The real-time solution of such a problem, formulated in the framework of optimal control theory, is a challenging issue. We prove that a real-time solution of the constrained motion planning problem for multibody systems is possible for practica...
The theoretical background and the numerical modeling results of a ground-based verification activity of a critical space mission phase affected by adhesion issues are presented. Tribological models are first reviewed with an emphasis on the contact forces assessment and their relationship to the geometrical, material, and mechanical properties of...
This paper presents an efficient symbolic-numerical approach for generating and solving the boundary value problem-differential algebraic equation (BVP-DAE) originating from the variational form of the optimal control problem (OCP). This paper presents the method for the symbolic derivation, by means of symbolic manipulation software (Maple), of th...
This paper outlines a methodology for combining user's preferred driving style and safety margins into an ADAS's module for optimal reference maneuver computation. The module for optimal reference maneuver computation is part of the system decision planning chain, which links scenario interpretation to warning intervention strategies. The module ob...
We report on the development of the LISA Technology Package (LTP) experiment that will fly onboard the LISA Pathfinder mission of the European Space Agency in 2008. We first summarize the science rationale of the experiment aimed at showing the operational feasibility of the so-called transverse–traceless coordinate frame within the accuracy needed...
This work presents a methodological framework, based on an indirect approach, for the automatic generation and numerical solution of Optimal Control Problems (OCP) for mechatronic systems, described by a system of Differential Algebraic Equations (DAEs). The equations of the necessary condition for optimality were derived exploiting the DAEs struct...
The present paper illustrates the problematic of precise release of objects in weightless conditions. Under these circumstances, the role of weak bonds (electrostatic and van der Waals attractive forces) is not obscured by the gravity force. A finite-element analysis approach has been presented with the aim to quantify the adhesion forces between s...
This paper describes a collection of methods and procedures for the automatic generation of the equations of motion of multibody systems using general-purpose Computer Algebra Software. A brief review of existing symbolic multibody systems is given, and advantages and disadvantages of symbolic approaches compared with numerical ones are discussed....
This work introduces a preliminary study on upcoming driver assistance systems based on Optimal Control. Systems of this kind are intended to monitor driver-vehicle behavior and environmental surroundings in order to warn the driver of possible dangerous situations, and work by constantly comparing the real vehicle maneuver to a recommended referen...
LISA (Laser Interferometer Space Antenna) is the first space mission for the in-flight detection of gravitational waves. In order to reduce the mission risk, some of the key technologies needed for LISA is tested by means of the LISA Test-Flight package (LTP) on board the LISA Pathfinder mission (SMART-2). The goal of the LISA Pathfinder is to prov...
The LTP (LISA Testflight Package), to be flown aboard the ESA / NASA LISA Pathfinder mission, aims to demonstrate drag-free control for LISA test masses with acceleration noise below 30 fm/s^2/Hz^1/2 from 1-30 mHz. This paper describes the LTP measurement of random, position independent forces acting on the test masses. In addition to putting an ov...
The scope of the Laser Interferometer Space Antenna mission (LISA) Test-flight Package (LTP), to be flown on board the second Small Mission for Advanced Research in Technology (SMART-2), is to provide in-flight testing of the key technologies needed for the Laser Interferometer Space Antenna mission (LISA), an ESA-NASA mission planned for in-orbit...
This paper presents an analysis of time-optimal maneuvers of a race motorcycle in the circuit of Adria (Italy) with different choices of gearbox ratios. The minimum lap time is found by means of the Optimal Maneuver Method, whose theoretical basis is presented in [1], [3], [4], [10]. The method essentially solves a two-point boundary value optimal...
The LISA test masses must be kept free of stray acceleration noise to within 3 × 10-15 m s-2 Hz-1/2 in order to obtain the low-frequency gravitational wave sensitivity goal. The LISA technology package (LTP) is a dedicated ESA flight experiment for testing the drag-free control technology that must ensure purity of free fall in the LISA mission. We...
The LISA Technology Package (LTP) to be tested on board SMART-2 mission consists conceptually of a single LISA interferometric arm contracted to approximately 35 cm length. As in LISA, the LTP control scheme must force the test masses to follow the spacecraft along all degrees of freedom not parallel to the measurement axis defined by the interfero...
Space-based detection of gravitational radiation is limited at low frequencies by stray force contamination of the orbits of ideally 'free-falling' test masses. Shielding a test mass from external forces with a satellite requires precision position sensing that does not itself introduce excessive stray force or springlike coupling to satellite moti...
This paper describes a collection of methods for the automatic derivation of the open loop dynamic models of mechatronic systems. These methods may be employed with a general-purpose computer algebra system like Mathematica or MAPLE (examples are given for Mathematica). The symbolic mathematical models produced in this way are suitable to form "pla...
This paper deals with the use of natural coordinates for the synthesis of mechanisms using optimization methods. It will be shown that an approach based on this kind of coordinates has many interesting aspects. The modeling of a mechanism with natural coordinates, like any other multi-body system, is carried out by means of a system of algebraic co...
This paper deals with the problem of measuring the inertia tensor of rigid bodies. An original approach is adopted, different from classical modal analysis techniques. The rigid body is forced by a spatial mechanism to rotate around different axes. Once the mechanism is calibrated, i.e. its inertia and stiffness matrices are known, the inertia tens...
This paper presents a novel approach to the assessment of the manoeuvrability of vehicles which is not based on the simulation of open-loop manoeuvres, nor does it rely on the modelling of the driver as a control system. Instead, the essence of the method is the solution of a two-point optimal control boundary value problem, in which a vehicle, sub...
This paper deals with the robust design of linkages, i.e. linkages with minimum sensitivity to variations in dimensions which may be induced by environment, operating conditions, manufacturing defects, aging, deterioration, etc. To account for variations, dimensions are considered as random variables, and a stochastic kinematic analysis is adopted...
In this study a numerical method for optimum synthesis of spatial function generator four-bar linkages is presented. The key features of the method are: the embedding of the assembly criterion and of the transmission ratio in the penalty function; the non-derivative minimization procedure; the parametric variation of the first-guess mechanism. The...
This paper concerns the simulation of unsteady combustion processes. It gathers up-to-date results of simulation activities, part of a long-term research program between the Italian National Institute for Electric Power (ENEL) and the University of Padova. The software used is ‘Fluent’; the hardware a Vax 8530 and a Cray X-MP/14.The paper is divide...
This paper concerns the modeling and numerical simulation of pulse combustion. As the title highlights, focus is on self-sustained acoustic vibrations, the cause of self-excitation being an unstable feedback loop closed by the combustion process. A Helmholtz-type mechanical-valve pulsating combustor was considered. Numerical models were two-dimensi...
This paper presents the first results of a study of the mechanical properties of the tethers to be used in the TSS-1 and TSS-2 missions. Stiffness, hysteresis, loss factor, propagation velocity of longitudinal waves and creep at room temperature were measured. The aim of the work is to verify and discuss limitations resulting from the use of simple...
Citations
... In the evolving landscape of autonomous driving, a likely scenario envisages a cooperative yet competitive interaction between human drivers and autonomous vehicles, each striving for their own advantages on the road [7]. This dynamic interplay signifies scenarios where human in-tuition should complement the precision of autonomous systems, fostering harmonious coexistence [8]. Beyond automation, the connectivity of vehicles plays a crucial role, serving as a foundational element for smart cities [9,10]. ...
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... Given that the incoming data of the sensor system was already filtered, and we were working in post-processing, we decided to take it "as is", as this would be the case for incoming measurements received via CP. However, once we deploy our solution on the prototype vehicle and use it online, we will consider the use of additional advanced estimation techniques, such as the robust lateral velocity estimator developed by Mauro Da Lio et al. in [39], to reduce the uncertainty of the GNSS system. ...
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... Another example of a generic computational model of adaptive behavior, related in some ways to Kolekar et al.'s (2020) field model, is the model developed by da Lio et al. (2023) based on the affordance competition hypothesis originiating in neuroscience (Cisek, 2007). The concept of affordances were introduced by Gibson (2014), based on the earlier field of safe travel model (Gibson and Crooks, 1938). ...
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... As automated systems have advanced in their cognitive abilities [44], task allocation between humans and machines has become an increasingly complex topic. Emerging driving automation technologies are continuing to pose particular challenges in dynamic task allocation due to their safety-critical nature and the volatile state of the on-road environment. ...
... ACM Digital Library: [10,20,21,26,[34][35][36][37][38][39][40][41][42] Scopus: [22,[43][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58][59][60] IEEE Xplore: [61][62][63][64][65][66][67][68][69] Google Scholar: [70][71][72][73][74][75][76][77][78] ...
... The neural coding framework is established using a DNN, and the visual stimulus is encoded into hierarchical intermediate features [24] using a DNN so that the agent can better use the image information to determine its position. In addition, Plebe et al. [25], inspired by how human cognition and vision perceive the environment, proposed occupancy grid mapping, which is an abstract representation of the driving environment in autonomous driving. They added cognitive rationality to the occupancy grid mapping task to mimic how human perceptual systems process information; however, this method lacks dynamic information. ...
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... Also, a fine-tuned vision transformer led to high accuracy but could demand substantial computational resources [8]. Reinforcement learning methods were proposed to address pedestrian-related distractions [9]. ...
... Another study [15] proposes employing a deep learning model for autonomous vehicle lateral control, demonstrating proficient lane-keeping capabilities and achieving a notable 96% autonomy level, even in novel and challenging scenarios. In paper [16], a novel approach utilizing "mental simulations" is introduced for predictive control in self-driving car lateral dynamics. Inspired by natural cognition, it enhances autonomy by enabling robotic agents to independently learn predictive and inverse models. ...
... This is in addition to the countless ethical, social, and legal reasons why neural methods may also be suspect [106]. [20] Feifel et al. [21] Losch et al. [22] Martinez et al. [23] Oltramari et al. [24] Plebe et al. [25] Yonaka et al. [26] Planning & Prediction Albrecht et al. [27] Antonello et al. [28] Brewitt et al. [29], [30] Ghoul et al. [31] Hanna et al. [32] Gyevnar et al. [33], [34] Henze et al. [35] Klein et al. [36] Kridalukmana et al. [37] Muscholl et al. [38] Neumeier et al. [39] Wu et al. [40] Control Zheng et al. [41] Interpretable Surrogate Models Perception Charroud et al. [42] Ponn et al. [43] Shi et al. [44] Planning & Prediction Cui et al. [45] Hu et al. [46] Li et al. [47] Ma et al. [48] Omeiza et al. [49], [50] Control Dassanayake et al. [51] End-to-End Zemni et al. [52] Interpretable Monitoring Fig. 1. The structure of the survey. ...
... The idea of dreaming is also exploited in Da Lio, Donà, Rosati Papini, Biral and Svensson (2020) and Plebe, Rosati Papini, Donà, and Da Lio (2019) as a means of self-training a co-driver agent. The agent itself departs from the traditional sense-think-act organization and instead uses a layered control sensorimotor architecture modeled by the affordance competition hypothesis (Da Lio, Donà, Rosati Papini and Gurney, 2020;Plebe, Rosati Papini, Cherubini, & Da Lio, 2022). ...
Reference: Human-inspired autonomous driving: A survey
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