孙健｜长沙理工大学｜学者主页

2026

Direct Contact-Tolerant Motion Planning With Vision Language Models

He Li, Jian Sun, Chengyang Li, Guoliang Li, Qiyu Ruan, Shuai Wang, Chengzhong Xu

arXiv preprint

2026

EvoDrive: Pareto Evolution for Safety-Critical Autonomous Driving via Self-Improving LLM Agents

Tong Nie, Yuewen Mei, Yihong Tang, Junlin He, Jie Deng, Jian Sun, Wei Ma

arXiv preprint

2026

Are eHMIs always helpful? Investigating how eHMIs interfere with pedestrian behavior on multi-lane streets: An eye-tracking virtual reality experiment

Yun Ye, Zexuan Li, Panagiotis Angeloudis, S. C. Wong, Jian Sun, Haoyang Liang

arXiv preprint

2026

ADV-0: Closed-Loop Min-Max Adversarial Training for Long-Tail Robustness in Autonomous Driving

Tong Nie, Yihong Tang, Junlin He, Yuewen Mei, Jie Sun, Lijun Sun, Wei Ma, Jian Sun

arXiv preprint

2026

MAD: Mapping-Aware World Models for Agile Quadrotor Flight

Xinhong Zhang, Runqing Wang, Yunfan Ren, Ding Yu, Boyu Zhou, Jian Sun, Fang Deng, Jie Chen, Gang Wang

arXiv preprint

2026

From Attacks to Curricula: Learnability-Guided Adversarial Training for Safe Autonomous Driving

Yuewen Mei, Tong Nie, Jie Sun, Haotian Shi, Wei Ma, Jian Sun

arXiv preprint

2026

SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments

Jian Sun, Yuming Huang, He Li, Shuqi Xiao, Shenyan Guo, Maani Ghaffari, Qingbiao Li, Chengzhong Xu, Hui Kong

arXiv preprint

2025

LeAD: The LLM Enhanced Planning System Converged with End-to-end Autonomous Driving

Yuhang Zhang, Jiaqi Liu, Chengkai Xu, Peng Hang, Jian Sun

arXiv preprint

2025

CORB-Planner: Corridor as Observations for RL Planning in High-Speed Flight

Yechen Zhang, Bin Gao, Gang Wang, Jian Sun, Zhuo Li

arXiv preprint

2025

Exploring the Roles of Large Language Models in Reshaping Transportation Systems: A Survey, Framework, and Roadmap

Tong Nie, Jian Sun, Wei Ma

arXiv preprint

DOI

2025

CoReVLA: A Dual-Stage End-to-End Autonomous Driving Framework for Long-Tail Scenarios via Collect-and-Refine

Shiyu Fang, Yiming Cui, Haoyang Liang, Chen Lv, Peng Hang, Jian Sun

arXiv preprint

2025

CT-UIO: Continuous-Time UWB-Inertial-Odometer Localization Using Non-Uniform B-spline with Fewer Anchors

Jian Sun, Wei Sun, Genwei Zhang, Kailun Yang, Song Li, Xiangqi Meng, Na Deng, Chongbin Tan

arXiv preprint

2025

Should Benevolent Deception be Allowed in EHMI? A Mechanism Explanation Based on Game Theory

Linkun Liu, Jian Sun, Ye Tian

arXiv preprint

DOI

2025

OnSiteVRU: A High-Resolution Trajectory Dataset for High-Density Vulnerable Road Users

Zhangcun Yan, Jianqiang Li, Peng Hang, Jian Sun

arXiv preprint

2025

Efficient Multi-Person Motion Prediction by Lightweight Spatial and Temporal Interactions

Yuanhong Zheng, Ruixuan Yu, Jian Sun

arXiv preprint

2025

Multi-agent Embodied AI: Advances and Future Directions

Zhaohan Feng, Ruiqi Xue, Lei Yuan, Yang Yu, Ning Ding, Meiqin Liu, Bingzhao Gao, Jian Sun, Xinhu Zheng, Gang Wang

arXiv preprint

2025

LLM-attacker: Enhancing Closed-loop Adversarial Scenario Generation for Autonomous Driving with Large Language Models

Yuewen Mei, Tong Nie, Jian Sun, Ye Tian

arXiv preprint

DOI

2025

MobileGeo: Exploring Hierarchical Knowledge Distillation for Resource-Efficient Cross-view Drone Geo-Localization

Jian Sun, Kangdao Liu, Chi Zhang, Chuangquan Chen, Junge Shen, C. L. Philip Chen, Chi-Man Vong

arXiv preprint

2024

MAPPO-PIS: A Multi-Agent Proximal Policy Optimization Method with Prior Intent Sharing for CAVs' Cooperative Decision-Making

Yicheng Guo, Jiaqi Liu, Rongjie Yu, Peng Hang, Jian Sun

arXiv preprint

2024

Piecewise constant tuning gain based singularity-free MRAC with application to aircraft control systems

Zhipeng Zhang, Yanjun Zhang, Jian Sun

arXiv preprint

2024

Cooperative Decision-Making for CAVs at Unsignalized Intersections: A MARL Approach with Attention and Hierarchical Game Priors

Jiaqi Liu, Peng Hang, Xiaoxiang Na, Chao Huang, Jian Sun

arXiv preprint

2024

Hierarchical and Decoupled BEV Perception Learning Framework for Autonomous Driving

Yuqi Dai, Jian Sun, Shengbo Eben Li, Qing Xu, Jianqiang Wang, Lei He, Keqiang Li

arXiv preprint

2024

High-Dimensional Fault Tolerance Testing of Highly Automated Vehicles Based on Low-Rank Models

Yuewen Mei, Tong Nie, Jian Sun, Ye Tian

arXiv preprint

2024

OE-BevSeg: An Object Informed and Environment Aware Multimodal Framework for Bird's-eye-view Vehicle Semantic Segmentation

Jian Sun, Yuqi Dai, Chi-Man Vong, Qing Xu, Shengbo Eben Li, Jianqiang Wang, Lei He, Keqiang Li

arXiv preprint

2023

Enhancing Social Decision-Making of Autonomous Vehicles: A Mixed-Strategy Game Approach With Interaction Orientation Identification

Jiaqi Liu, Xiao Qi, Peng Hang, Jian Sun

arXiv preprint

2023

Measuring Sociality in Driving Interaction

Xiaocong Zhao, Jian Sun, Meng Wang

arXiv preprint

2023

MTD-GPT: A Multi-Task Decision-Making GPT Model for Autonomous Driving at Unsignalized Intersections

Jiaqi Liu, Peng Hang, Xiao qi, Jianqiang Wang, Jian Sun

arXiv preprint

2023

Cooperative Driving of Connected Autonomous Vehicles in Heterogeneous Mixed Traffic: A Game Theoretic Approach

Shiyu Fang, Peng Hang, Chongfeng Wei, Yang Xing, Jian Sun

arXiv preprint

2022

Truncated tensor Schatten p-norm based approach for spatiotemporal traffic data imputation with complicated missing patterns

Tong Nie, Guoyang Qin, Jian Sun

arXiv preprint

DOI

2020

A real-time multi-constraints obstacle avoidance method using LiDAR

Wei Chen, Jian Sun, Weishuo Li, Dapeng Zhao

arXiv preprint

精选作品

期刊论文

基于强跟踪的移动机器人CQKF-SLAM方法

Evaluation of drivers' interaction ability at social scenarios: a process-based framework

基于RGB-D相机和激光雷达的传感器数据融合算法

采用RGB–D时空上下文模型的多目标遮挡跟踪算算法

智能化物流搬运机器人（AGV）的探讨

面向室内移动机器人的改进3D-NDT点云配准算法

基于RGB-D相机的室内移动机器人三维地图构建研究

轮式移动机器人运动稳定性分析

GPS和高精度气压高度表的组合导航定位技术研究

室外智能移动机器人导航中路标识别算法的研究

预印本

Direct Contact-Tolerant Motion Planning With Vision Language Models

EvoDrive: Pareto Evolution for Safety-Critical Autonomous Driving via Self-Improving LLM Agents

Are eHMIs always helpful? Investigating how eHMIs interfere with pedestrian behavior on multi-lane streets: An eye-tracking virtual reality experiment

ADV-0: Closed-Loop Min-Max Adversarial Training for Long-Tail Robustness in Autonomous Driving

MAD: Mapping-Aware World Models for Agile Quadrotor Flight

From Attacks to Curricula: Learnability-Guided Adversarial Training for Safe Autonomous Driving

SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments

LeAD: The LLM Enhanced Planning System Converged with End-to-end Autonomous Driving

CORB-Planner: Corridor as Observations for RL Planning in High-Speed Flight

Exploring the Roles of Large Language Models in Reshaping Transportation Systems: A Survey, Framework, and Roadmap

CoReVLA: A Dual-Stage End-to-End Autonomous Driving Framework for Long-Tail Scenarios via Collect-and-Refine

CT-UIO: Continuous-Time UWB-Inertial-Odometer Localization Using Non-Uniform B-spline with Fewer Anchors

Should Benevolent Deception be Allowed in EHMI? A Mechanism Explanation Based on Game Theory

OnSiteVRU: A High-Resolution Trajectory Dataset for High-Density Vulnerable Road Users

Efficient Multi-Person Motion Prediction by Lightweight Spatial and Temporal Interactions

Multi-agent Embodied AI: Advances and Future Directions

LLM-attacker: Enhancing Closed-loop Adversarial Scenario Generation for Autonomous Driving with Large Language Models

MobileGeo: Exploring Hierarchical Knowledge Distillation for Resource-Efficient Cross-view Drone Geo-Localization

MAPPO-PIS: A Multi-Agent Proximal Policy Optimization Method with Prior Intent Sharing for CAVs' Cooperative Decision-Making

Piecewise constant tuning gain based singularity-free MRAC with application to aircraft control systems

Cooperative Decision-Making for CAVs at Unsignalized Intersections: A MARL Approach with Attention and Hierarchical Game Priors

Hierarchical and Decoupled BEV Perception Learning Framework for Autonomous Driving

High-Dimensional Fault Tolerance Testing of Highly Automated Vehicles Based on Low-Rank Models

OE-BevSeg: An Object Informed and Environment Aware Multimodal Framework for Bird's-eye-view Vehicle Semantic Segmentation

Enhancing Social Decision-Making of Autonomous Vehicles: A Mixed-Strategy Game Approach With Interaction Orientation Identification

Measuring Sociality in Driving Interaction

MTD-GPT: A Multi-Task Decision-Making GPT Model for Autonomous Driving at Unsignalized Intersections

Cooperative Driving of Connected Autonomous Vehicles in Heterogeneous Mixed Traffic: A Game Theoretic Approach

Truncated tensor Schatten p-norm based approach for spatiotemporal traffic data imputation with complicated missing patterns

A real-time multi-constraints obstacle avoidance method using LiDAR

研究方向