Lifelong Learning for Autonomous Vehicles

This is the official repository of paper ''A Survey on Lifelong Learning for Autonomous Vehicles: Methods, Benchmarks, Challenges and Future Directions'', Yunlong Lin, Sizhe Fan, Tongshuai Wu, Chao Lu, and Jianwei Gong. The paper is under peer review.

Lifelong Learning Methods for Autonomous Vehicles

Perception

Title	Code	Journal/Conference	Year
Adaptive Robot Traversability Estimation Based on Self-supervised Online Continual Learning in Unstructured Environments	ARTE	IEEE RA-L	2024
Taxonomy-aware Continual Semantic Segmentation in Hyperbolic Spaces for Open-world Perception	TOPICS	IEEE RA-L	2024
Online Analytic Exemplar-free Continual Learning with Large Models for Imbalanced Autonomous Driving Task	AEF-OCL	IEEE T-VT	2024
Preventing Catastrophic Forgetting in Continuous Online Learning for Autonomous Driving	LSTOL	IRSO	2024
Lifelong Change Detection: Continuous Domain Adaptation for Small Object Change Detection in Everyday Robot Navigation	LCD	MAV	2023
OpenNet: Incremental Learning for Autonomous Driving Object Detection with Balanced Loss	OpenNet	SMC	2023
An Efficient Domain-incremental Learning Approach to Drive in All Weather Conditions	DISC	CVPR	2022
ADS-lead: Lifelong Anomaly Detection in Autonomous Driving Systems	ADS-Lead	IEEE T-ITS	2022
Few-shot Class-incremental Learning via Compact and Separable Features for Fine-grained Vehicle Recognition	CSFL	IEEE T-ITS	2022
CLAIRE: Enabling Continual Learning for Real-Time Autonomous Driving with a Dual-head Architecture	CLAIRE	ISORC	2022
Continual Learning Strategy in One-stage Object Detection Framework based on Experience Replay for Autonomous Driving Vehicle	ER-YOLO	Sensors	2020

Localization

Title	Code	Journal/Conference	Year
CCL: Continual contrastive learning for LiDAR place recognition	CCL	IEEE RA-L	2023
Data-driven indoor positioning correction for infrastructure-enabled autonomous driving systems: A lifelong framework	-	IEEE T-ITS	2023
Bioslam: A bioinspired lifelong memory system for general place recognition	BioSLAM	IEEE T-RO	2023
Self-improving semantic perception for indoor localisation	code	CoRL	2022
Continual slam: Beyond lifelong simultaneous localization and mapping through continual learning	CL-SLAM	ISRR	2022
Cross-scene loop-closure detection with continual learning for visual simultaneous localization and mapping	-	IJARS	2021

Prediction

Title	Code	Journal/Conference	Year
Continual Learning for Motion Prediction Model via Meta-Representation Learning and Optimal Memory Buffer Retention Strategy	-	CVPR	2024
Towards Zero-Forgetting Continual Learning for Interactive Trajectory Prediction: A Dynamically Expandable Approach	DEITP	SSRN	2024
DECODE: Domain-aware Continual Domain Expansion for Motion Prediction	DECODE	arXiv	2024
Learning to predict navigational patterns from partial observations	code	IEEE RA-L	2023
Continual interactive behavior learning with traffic divergence measurement: A dynamic gradient scenario memory approach	D-GSM	IEEE T-ITS	2023
Lifelong vehicle trajectory prediction framework based on generative replay	R2GAN	IEEE T-ITS	2023
The foreseeable future: Self-supervised learning to predict dynamic scenes for indoor navigation	Deep-SOGM	IEEE T-RO	2023
Learning spatiotemporal occupancy grid maps for lifelong navigation in dynamic scenes	code	ICRA	2022
Self-supervised traffic advisors: distributed, multi-view traffic prediction for smart cities	SSTA	IEEE ITSC	2022
Continual pedestrian trajectory learning with social generative replay	CL-SGR	IEEE RA-L	2022
Continual multi-agent interaction behavior prediction with conditional generative memory	C-GenMem	IEEE RA-L	2021
SILA: An incremental learning approach for pedestrian trajectory prediction	SILA	CVPR	2020

Planning

Title	Code	Journal/Conference	Year
Cross-Scenario End-to-End Motion Planning in Off-Road Environment: A Lifelong Learning Perspective	-	IEEE RA-L	2025
Human-guided continual learning for personalized decision-making of autonomous driving	-	IEEE T-ITS	2025
A rapid adapting and continual learning spiking neural network path planning algorithm for mobile robots	E-SWP	IEEE RA-L	2024
DNN patching: progressive fixing and augmenting the functionalities of DNNs for autonomous vehicles	DNN Patching	IEEE RA-L	2022
Lifelong topological visual navigation	-	IEEE RA-L	2022
Lifelong multi-agent path finding in large-scale warehouses	RHCR	AAAI	2021
A lifelong learning approach to mobile robot navigation	LLfN	IEEE RA-L	2021
Motion planning networks: Bridging the gap between learning-based and classical motion planners	MPNet	IEEE T-RO	2020
Lifelong federated reinforcement learning: A learning architecture for navigation in cloud robotic systems	LFRL	IEEE RA-L	2019
Incremental lifelong deep learning for autonomous vehicles	CBIL	IEEE ITSC	2018

Motion control

Title	Code	Journal/Conference	Year
Beyond imitation: A life-long policy learning framework for path tracking control of autonomous driving	LLPL	IEEE T-VT	2024
Continual reinforcement learning for autonomous driving with application on velocity control under various environment	EM-SAC	CVCI	2023
Self-improving semantic perception for indoor localisation	-	CoRL	2022

Benchmarks Used in Lifelong Learning Studies for Autonomous Vehicles

Dataset

Title	Resource Link	Journal/Conference	Year
Coda: A real-world road corner case dataset for object detection in autonomous driving	CODA	ECCV	2022
Alita: A large-scale incremental dataset for long-term autonomy	ALITA	arXiv	2022
One thousand and one hours: Self-driving motion prediction dataset	Lyft	CoRL	2021
SODA10M: A large-scale 2D self/semi-supervised object detection dataset for autonomous driving	SODA 10M	arXiv	2021
Scalability in perception for autonomous driving: Waymo open dataset	Waymo	CVPR	2020
nuscenes: A multimodal dataset for autonomous driving	nuScense	CVPR	2020
Mulran: Multimodal range dataset for urban place recognition	MulRan	ICRA	2020
The round dataset: A drone dataset of road user trajectories at roundabouts in germany	rounD	IEEE ITSC	2020
The ind dataset: A drone dataset of naturalistic road user trajectories at german intersections	inD	IEEE IV	2020
A large-scale frontal vehicle image dataset for fine-grained vehicle categorization	Frontal-58	IEEE T-ITS	2020
Interaction dataset: An international, adversarial and cooperative motion dataset in interactive driving scenarios with semantic maps	INTERACTION	arXiv	2019
The highd dataset: A drone dataset of naturalistic vehicle trajectories on german highways for validation of highly automated driving systems	highD	IEEE ITSC	2018
Tusimple-benchmark lane detection	Tusimple	CVPR	2017
The mapillary vistas dataset for semantic understanding of street scenes	Mapillary Vistas 2.0	ICCV	2017
1 year, 1000 km: The oxford robotcar dataset	Oxford RobotCar	IJRL	2017
The cityscapes dataset for semantic urban scene understanding	Cityscapes	CVPR	2016
A large-scale car dataset for fine-grained categorization and verification	Compars	CVPR	2015
Microsoft coco: Common objects in context	COCO	ECCV	2014
3d object representations for fine-grained categorization	StanfordCars	ICCV	2013
Are we ready for autonomous driving? the kitti vision benchmark suite	KITTY	CVPR	2012
Indoor segmentation and support inference from rgbd images	NYU-Depth V2	ECCV	2012
The German traffic sign recognition benchmark: a multi-class classification competition	GTSRB	IJCNN	2011
The Pascal Visual Object Classes (VOC) Challenge	PASCAL VOC 2007	IJCV	2010
You'll never walk alone: Modeling social behavior for multi-target tracking	ETH	ICCV	2009
Crowds by example	UCY	Computer Graphics Forum	2007
The next generation simulation program	NGSIM	ITE	2004

Simulator

Title	Resource Link	Journal/Conference	Year
Lgsvl simulator: A high fidelity simulator for autonomous driving	LGSVL	IEEE ITSC	2020
Gibson env: Real-world perception for embodied agents	Gibson	CVPR	2018
CARLA: An open urban driving simulator	CARLA	CoRL	2017
Design and use paradigms for gazebo, an open-source multi-robot simulator	Gazebo	IRSO	2004
Blender Simulator	Blender	-	-

Important Theoretical Studies for Lifelong Machine Learning (Continual/Incremental Learning)

Title	Journal/Conference	Year
Catastrophic Interference in Connectionist Networks: The Sequential Learning Problem	Psychology of learning and motivation	1989
Lifelong Robot Learning	Robotics and Autnonomous Systems	1994
Lifelong Machine Learning (Book)	Morgan & Claypool Publishers	2018
Continual Learning for Robotics: Definition, Framework, Learning Strategies, Opportunities and Chanllenges	Information Fusion	2020
Biological Underpinnings for Lifelong Leanring Machines	Nature Machine Intelligence	2022
A Comprehensive Survey of Continual Learning: Theory, Method and Application	IEEE TPAMI	2024
Loss of Plasticity in Deep Continual Learning	Nature	2024

Contact

If you have any questions or suggestions, please feel free to our main contributors:

Yunlong Lin (jacklyl.bit@gmail.com or yunlonglin@bit.edu.cn)