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<!doctype html>
<html lang="en">
<!-- === Header Starts === -->
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>DecisionForce</title>
<link href="./assets/bootstrap.min.css" rel="stylesheet">
<link href="./assets/font.css" rel="stylesheet" type="text/css">
<link href="./assets/style.css" rel="stylesheet" type="text/css">
</head>
<!-- === Header Ends === -->
<body>
<!-- === Homepage Starts === -->
<div class="homepage">
<!-- === Header Starts === -->
<div class="header">
<div class="logo">
<a href="https://github.com/decisionforce" target="_blank"><img src="./assets/deciforce.png"></a>
</div>
<div class="title">
Crossroads of Machine Perception and Autonomy
<br>
Please visit <a href="https://metadriverse.github.io">MetaDriverse</a> for our latest updates!
</div>
<div class="subtitle">
</div>
</div>
<!-- === Header Ends === -->
<!-- === Projects Section Starts === -->
<div class="project">
<div class="image">
<a href="https://decisionforce.github.io/HACO" target="_blank">
<div class="videoplayer">
<video autoplay="autoplay" muted loop="loop" playsinline>
<source src="images/cover_HACO.mp4" type="video/mp4"/>
</video>
</div>
</a>
</div>
<div class="info">
<b>
Efficient Learning of Safe Driving Policy via Human-AI Copilot Optimization
</b> <br>
Quanyi Li*, Zhenghao Peng*, Bolei Zhou
<br>
<i>ICLR 2022</i><br>
[<a href="https://arxiv.org/pdf/2202.10341.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/HACO" target="_blank">Code</a>]
[<a href="https://decisionforce.github.io/HACO" target="_blank">Webpage</a>]
[<a href="https://decisionforce.github.io/HACO/#video" target="_blank">Video</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://decisionforce.github.io/metadrive/" target="_blank">
<img src="images/cover_metadrive.png">
</a>
</div>
<div class="info">
<b>MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learning</b> <br>
Quanyi Li*, Zhenghao Peng*, Zhenghai Xue, Qihang Zhang, Bolei Zhou
<br>
<!-- <i>Conference on Robot Learning (CoRL) 2021</i><br>-->
[<a href="https://arxiv.org/pdf/2109.12674.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/metadrive" target="_blank">Code</a>]
[<a href="https://decisionforce.github.io/metadrive" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://decisionforce.github.io/CoPO" target="_blank">
<div class="videoplayer">
<video autoplay="autoplay" muted loop="loop" playsinline>
<source src="images/cover_CoPO.mp4" type="video/mp4"/>
</video>
</div>
</a>
</div>
<div class="info">
<b>
Learning to Simulate Self-driven Particles System with Coordinated Policy Optimization
</b> <br>
Zhenghao Peng, Quanyi Li, Chunxiao Liu, Bolei Zhou
<br>
<i>NeurIPS 2021</i><br>
[<a href="https://arxiv.org/pdf/2110.13827.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/CoPO" target="_blank">Code</a>]
[<a href="https://decisionforce.github.io/CoPO" target="_blank">Webpage</a>]
[<a href="https://decisionforce.github.io/CoPO/copo_poster.pdf" target="_blank">Poster</a>]
[<a href="https://youtu.be/sOw43l8lwxE" target="_blank">Talk</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://decisionforce.github.io/EGPO/" target="_blank">
<img src="images/cover_EGPO.png">
</a>
</div>
<div class="info">
<b>Safe Driving via Expert Guided Policy Optimization</b> <br>
Zhenghao Peng*, Quanyi Li*, Chunxiao Liu, Bolei Zhou
<br>
<i>Conference on Robot Learning (CoRL) 2021</i><br>
[<a href="https://arxiv.org/pdf/2110.06831.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/EGPO" target="_blank">Code</a>]
[<a href="https://decisionforce.github.io/EGPO/" target="_blank">Webpage</a>]
[<a href="https://decisionforce.github.io/EGPO/images/egpo_poster.png" target="_blank">Poster</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="" target="_blank">
<img src="images/cover_ETMDP.png">
</a>
</div>
<div class="info">
<b>Safe Exploration by Solving Early Terminated MDP</b> <br>
Hao Sun, Ziping Xu, Meng Fang, Zhenghao Peng, Jiadong Guo, Bo Dai, Bolei Zhou <br>
<i>arXiv:2107.04200 </i><br>
[<a href="https://arxiv.org/pdf/2107.04200.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/ETMDP" target="_blank">Code</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="" target="_blank">
<img src="images/cover_ZOSPI.png">
</a>
</div>
<div class="info">
<b>Zeroth-Order Supervised Policy Improvement</b> <br>
Hao Sun, Ziping Xu, Yuhang Song, Meng Fang, Jiechao Xiong, Bo Dai, Bolei Zhou<br>
<i>arXiv:2006.06600</i><br>
[<a href="https://arxiv.org/abs/2006.06600.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/ZOSPI" target="_blank">Code</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="" target="_blank">
<img src="images/cover_NPSCO.png">
</a>
</div>
<div class="info">
<b>Novel Policy Seeking with Constrained Optimization</b> <br>
Hao Sun, Zhenghao Peng, Bo Dai, Jian Guo, Dahua Lin, Bolei Zhou<br>
<i>arXiv:2005.10696</i><br>
[<a href="https://arxiv.org/abs/2005.10696.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/NPSCO" target="_blank">Code</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="" target="_blank">
<img src="images/cover_mmtransformer.png">
</a>
</div>
<div class="info">
<b>Multimodal Motion Prediction with Stacked Transformers</b> <br>
Yicheng Liu*, Jinghuai Zhang*, Liangji Fang, Qinhong Jiang, Bolei Zhou<br>
<i>CVPR 2021</i><br>
[<a href="https://arxiv.org/pdf/2103.11624.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/mmTransformer" target="_blank">Code</a>][<a
href="https://decisionforce.github.io/mmTransformer/" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="" target="_blank">
<img src="images/cover_mairl.png">
</a>
</div>
<div class="info">
<b>Adversarial Inverse Reinforcement Learning with Self-attention
Dynamics Model</b> <br>
Jiankai Sun, Lantao Yu, Pinqian Dong, Bo Lu, Bolei Zhou<br>
<i>IEEE Robotics and Automation Letters (RA-L), 2021</i><br>
[<a href="http://bzhou.ie.cuhk.edu.hk/robotics/MAIRL_draft.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/MAIRL" target="_blank">Code</a>][<a
href="https://decisionforce.github.io/MAIRL/" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://decisionforce.github.io/pgdrive/" target="_blank">
<img src="images/cover_pgdrive.png">
</a>
</div>
<div class="info">
<b>Improving the Generalization of End-to-End Driving through Procedural Generation</b> <br>
Quanyi Li*, Zhenghao Peng*, Qihang Zhang, Cong Qiu, Chunxiao Liu, Bolei Zhou<br>
<i>arXiv:2012.13681</i><br>
[<a href="https://arxiv.org/pdf/2012.13681.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/pgdrive" target="_blank">Code</a>][<a
href="https://decisionforce.github.io/pgdrive/" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://decisionforce.github.io/modulardecision/" target="_blank">
<img src="images/cover_deepdecision.png">
</a>
</div>
<div class="info">
<b>Learning a Decision Module by Imitating Driver’s Control Behaviors</b> <br>
Junning Huang*, Sirui Xie*, Jiankai Sun*, Qiurui Ma, Chunxiao Liu, Dahua Lin, Bolei Zhou<br>
<i>Conference on Robot Learning (CoRL) 2020</i><br>
[<a href="http://bzhou.ie.cuhk.edu.hk/robotics/corl2020_modulardecision.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/modulardecision" target="_blank">Code</a>][<a
href="https://decisionforce.github.io/modulardecision/" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="http://bzhou.ie.cuhk.edu.hk/robotics/corl2020_nsps.pdf" target="_blank">
<img src="images/cover_nsps.png">
</a>
</div>
<div class="info">
<b>Neuro-Symbolic Program Search for Autonomous Driving Decision Module Design</b> <br>
Jiankai Sun, Hao Sun, Tian Han, Bolei Zhou<br>
<i>Conference on Robot Learning (CoRL) 2020</i><br>
[<a href="http://bzhou.ie.cuhk.edu.hk/robotics/corl2020_nsps.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/modulardecision" target="_blank">Code</a>][<a
href="https://decisionforce.github.io/NSPS/" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://decisionforce.github.io/VPN/" target="_blank">
<img src="images/cover_vpn.png">
</a>
</div>
<div class="info">
<b>Cross-view Semantic Segmentation for Sensing Surroundings</b> <br>
Bowen Pan*, Jiankai Sun*, Ho Yin Tiga Leung, Alex Andonian, Bolei Zhou<br>
<i>IEEE Robotics and Automation Letters (RA-L) & IROS 2020</i><br>
[<a href="https://arxiv.org/pdf/1906.03560.pdf" target="_blank">Paper</a>]
[<a href="https://github.com/pbw-Berwin/View-Parsing-Network" target="_blank">Code</a>][<a
href="https://decisionforce.github.io/VPN/" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://arxiv.org/pdf/2004.12255" target="_blank">
<img src="images/icon_motionprediction.png">
</a>
</div>
<div class="info">
<b>TPNet: Trajectory Proposal Network for Motion Prediction</b> <br>
Liangji Fang, Qinhong Jiang, Jianping Shi, Bolei Zhou<br>
<i>CVPR 2020</i><br>
[<a href="https://arxiv.org/pdf/2004.12255" target="_blank">Paper</a>]
[<a href="https://decisionforce.github.io/TPNet/" target="_blank">Webpage</a>]
</div>
</div>
<div class="project">
<div class="image">
<a href="https://sites.google.com/view/neurips2019pchid" target="_blank">
<img src="images/cover_neurips19.png">
</a>
</div>
<div class="info">
<b>Policy Continuation with Hindsight Inverse Dynamics</b> <br>
Hao Sun, Zhizhong Li, Xiaotong Liu, Dahua Lin, Bolei Zhou <br>
<i>NeurIPS 2019</i><br>
[<a href="https://arxiv.org/pdf/1910.14055" target="_blank">Paper</a>]
[<a href="https://github.com/decisionforce/PCHID" target="_blank">Code</a>]
[<a href="https://sites.google.com/view/neurips2019pchid" target="_blank">Webpage</a>]
</div>
</div>
<!-- === Projects Section Ends === -->
<!-- === Tutorials Section Starts === -->
<!-- <div class="section">Tutorials</div>-->
<!-- <div class="tutorial">-->
<!-- <div class="image">-->
<!-- <a href="https://interpretablevision.github.io/" target="_blank">-->
<!-- <img src="./tutorials/cvpr20_tutorial_bolei.jpg">-->
<!-- </a>-->
<!-- </div>-->
<!-- <div class="info">-->
<!-- <b>Exploring and Exploiting Interpretable Semantics in GANs</b> <br>-->
<!-- Bolei Zhou <br>-->
<!-- <i>Interpretable Machine Learning for Computer Vision (CVPR 2020 Tutorial)</i> <br>-->
<!-- [<a href="https://www.youtube.com/watch?v=rfx3whKgFVo&feature=youtu.be" target="_blank">Video (YouTube)</a>]-->
<!-- [<a href="https://www.bilibili.com/video/BV1z54y1B785" target="_blank">Video (bilibili)</a>]-->
<!-- [<a href="https://interpretablevision.github.io/slide/cvpr20_bolei.pdf" target="_blank">Slides</a>]-->
<!-- </div>-->
<!-- </div>-->
<!-- === Tutorials Section Ends === -->
<!-- === Team Section Starts === -->
<div class="section">Team</div>
<div class="avatar">
<table>
<tr>
<td>Principal <br> Investigator</td>
<td>
<a href="http://bzhou.ie.cuhk.edu.hk/" target="_blank">
<div style="margin-top: 5pt;">Bolei Zhou</div>
</a>
</td>
</tr>
<tr>
<td>Team <br> Members</td>
<td>
<a href="http://pengzhenghao.github.io/" target="_blank">
<div style="margin-top: 5pt;">Zhenghao Peng</div>
</a>
</td>
<td>
<a href="#" target="_blank">
<div style="margin-top: 5pt;">Hao Sun</div>
</a>
</td>
<!-- <td>
<a href="https://scholar.google.com/citations?user=726MCb8AAAAJ&hl=en" target="_blank">
<div style="margin-top: 5pt;">Jiankai Sun</div>
</a>
</td> -->
</tr>
<!-- <tr>-->
<!-- <td>Alumni</td>-->
<!-- <td>-->
<!-- <a href="https://scholar.google.com.hk/citations?user=726MCb8AAAAJ&hl=en" target="_blank">-->
<!-- <img src="./avatars/jiankai.png" class="img-circle">-->
<!-- <div style="margin-top: 5pt;">Somebody</div>-->
<!-- </a>-->
<!-- </td>-->
<!-- </tr>-->
</table>
</div>
<!-- === Team Section Ends === -->
<!-- === Acknowledgement Section Starts
<div class="section">Acknowledgement</div>
<div class="acknowledgement">
We would like to acknowledge the support from the Early Career Scheme (ECS) through the Research Grants Council
(RGC) of Hong Kong under Grant No.24206219 and CUHK FoE RSFS Grant.
</div>
=== Acknowledgement Section Ends === -->
</div>
<!-- === Homepage Ends === -->
</body>
</html>