Related papers: Combining Planning and Deep Reinforcement Learning…

Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…

Tactical decision making is a critical feature for advanced driving systems, that incorporates several challenges such as complexity of the uncertain environment and reliability of the autonomous system. In this work, we develop a…

In many risk-aware and multi-objective reinforcement learning settings, the utility of the user is derived from the single execution of a policy. In these settings, making decisions based on the average future returns is not suitable. For…

Today's automated vehicles lack the ability to cooperate implicitly with others. This work presents a Monte Carlo Tree Search (MCTS) based approach for decentralized cooperative planning using macro-actions for automated vehicles in…

High-level driving behavior decision-making is an open-challenging problem for connected vehicle technology, especially in heterogeneous traffic scenarios. In this paper, a deep reinforcement learning based high-level driving behavior…

This work optimizes the highway decision making strategy of autonomous vehicles by using deep reinforcement learning (DRL). First, the highway driving environment is built, wherein the ego vehicle, surrounding vehicles, and road lanes are…

The AlphaZero algorithm has achieved superhuman performance in two-player, deterministic, zero-sum games where perfect information of the game state is available. This success has been demonstrated in Chess, Shogi, and Go where learning…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

Sequential decision-making under uncertainty is present in many important problems. Two popular approaches for tackling such problems are reinforcement learning and online search (e.g., Monte Carlo tree search). While the former learns a…

Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…

Making sophisticated, robust, and safe sequential decisions is at the heart of intelligent systems. This is especially critical for planning in complex multi-agent environments, where agents need to anticipate other agents' intentions and…

Planning and reinforcement learning are two key approaches to sequential decision making. Multi-step approximate real-time dynamic programming, a recently successful algorithm class of which AlphaZero [Silver et al., 2018] is an example,…

Reinforcement learning continuously optimizes decision-making based on real-time feedback reward signals through continuous interaction with the environment, demonstrating strong adaptive and self-learning capabilities. In recent years, it…

The AlphaZero algorithm has been successfully applied in a range of discrete domains, most notably board games. It utilizes a neural network, that learns a value and policy function to guide the exploration in a Monte-Carlo Tree Search.…

This paper presents a method for testing the decision making systems of autonomous vehicles. Our approach involves perturbing stochastic elements in the vehicle's environment until the vehicle is involved in a collision. Instead of applying…

Decision making for self-driving cars is usually tackled by manually encoding rules from drivers' behaviors or imitating drivers' manipulation using supervised learning techniques. Both of them rely on mass driving data to cover all…

Lane-free traffic environments allow vehicles to better harness the lateral capacity of the road without being restricted to lane-keeping, thereby increasing the traffic flow rates. As such, we have a distinct and more challenging setting…