DiffuserLite: Towards Real-time Diffusion Planning

Diffusion planning has been recognized as an effective decision-making paradigm in various domains. The capability of conditionally generating high-quality long-horizon trajectories makes it a promising research direction. However, existing diffusion planning methods suffer from low decision-making frequencies due to the expensive iterative sampling cost. To address this issue, we introduce DiffuserLite, a super fast and lightweight diffusion planning framework. DiffuserLite employs a planning refinement process (PRP) to generate coarse-to-fine-grained trajectories, significantly reducing the modeling of redundant information and leading to notable increases in decision-making frequency. Our experimental results demonstrate that DiffuserLite achieves a decision-making frequency of $122$Hz ($112.7$x faster than previous mainstream frameworks) and reaches state-of-the-art performance on D4RL benchmarks. In addition, our neat DiffuserLite framework can serve as a flexible plugin to enhance decision frequency in other diffusion planning algorithms, providing a structural design reference for future works. More details and visualizations are available at https://diffuserlite.github.io/.

Research on Stable Obstacle Avoidance Control Strategy for Tracked Intelligent Transportation Vehicles in Non-structural Environment Based on Deep Learning

Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations. Therefore, this study proposed an autonomous obstacle avoidance control strategy that can effectively guarantee vehicle stability based on Attention-long short-term memory (Attention-LSTM) deep learning model with the idea of humanoid driving. First, we designed the autonomous obstacle avoidance control rules to guarantee the safety of unmanned vehicles. Second, we improved the autonomous obstacle avoidance control strategy combined with the stability analysis of special vehicles. Third, we constructed a deep learning obstacle avoidance control through experiments, and the average relative error of this system was 15%. Finally, the stability and accuracy of this control strategy were verified numerically and experimentally. The method proposed in this study can ensure that the unmanned vehicle can successfully avoid the obstacles while driving smoothly.