[CoRL '25] Pseudo-Simulation for Autonomous Driving; [NeurIPS '24] NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking

An MPC Motion Planner in ROS/C++

Source codes of “Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method” published in IEEE Trans. Intelligent Transportation Systems

PLUTO: Push the Limit of Imitation Learning-based Planning for Autonomous Driving

This repository shares information and guidelines to use the reconstructed trajectories of naturalistic crashes and near-crashes in the SHRP2 NDS.

LaTeX Thesis Template for Tsinghua University

[ICLR 2025 Oral] The official implementation of "Diffusion-Based Planning for Autonomous Driving with Flexible Guidance"

[NeurIPS 2024 Oral] Aligner: Efficient Alignment by Learning to Correct

Emergency Index (EI): A two-dimensional surrogate safety measure considering vehicles' interaction depth

This repository allows for fast computation of two-dimensional Time-To-Collision (TTC), DRAC, and MTTC.

[ECCV'22] KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients

This repo contains the code for paper "Dense reinforcement learning for safety validation of autonomous vehicles"

SPIDER: Self-driving Planning and Intelligent Decision-making Engine with Reusability

[CoRL 2024 Oral] FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality

Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance

High-resolution map (OpenDrive\Apollo) visualization and conversion tools