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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…

In this work, we propose a novel safe and scalable decentralized solution for multi-agent control in the presence of stochastic disturbances. Safety is mathematically encoded using stochastic control barrier functions and safe controls are…

In safety-critical domains where online data collection is infeasible, offline reinforcement learning (RL) offers an attractive alternative but only if policies deliver high returns without incurring catastrophic lower-tail risk. Prior work…

Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is…

Vehicles today can drive themselves on highways and driverless robotaxis operate in major cities, with more sophisticated levels of autonomous driving expected to be available and become more common in the future. Yet, technically speaking,…

Federated reinforcement learning (FRL) has emerged as a promising paradigm, enabling multiple agents to collaborate and learn a shared policy adaptable across heterogeneous environments. Among the various reinforcement learning (RL)…

For highly automated driving above SAE level~3, behavior generation algorithms must reliably consider the inherent uncertainties of the traffic environment, e.g. arising from the variety of human driving styles. Such uncertainties can…

It is difficult to be able to imitate well in unknown states from a small amount of expert data and sampling data. Supervised learning methods such as Behavioral Cloning do not require sampling data, but usually suffer from distribution…

Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real…

Model-free deep reinforcement learning (RL) algorithms have achieved tremendous success on a range of challenging tasks. However, safety concerns remain when these methods are deployed on real-world applications, necessitating risk-aware…

A sudden roadblock on highways due to many reasons such as road maintenance, accidents, and car repair is a common situation we encounter almost daily. Autonomous Vehicles (AVs) equipped with sensors that can acquire vehicle dynamics such…

This paper proposes a safety modulator actor-critic (SMAC) method to address safety constraint and overestimation mitigation in model-free safe reinforcement learning (RL). A safety modulator is developed to satisfy safety constraints by…

Recent advances in deep reinforcement learning have achieved impressive results in a wide range of complex tasks, but poor sample efficiency remains a major obstacle to real-world deployment. Soft actor-critic (SAC) mitigates this problem…

We focus on a simulation-based optimization problem of choosing the best design from the feasible space. Although the simulation model can be queried with finite samples, its internal processing rule cannot be utilized in the optimization…

With the advancement of autonomous driving, ensuring safety during motion planning and navigation is becoming more and more important. However, most end-to-end planning methods suffer from a lack of safety. This research addresses the…

This work extends an established critic match loss landscape visualization method from online to off-policy reinforcement learning (RL), aiming to reveal the optimization geometry behind critic learning. Off-policy RL differs from stepwise…

Reinforcement learning (RL) has demonstrated potential in autonomous driving (AD) decision tasks. However, applying RL to urban AD, particularly in intersection scenarios, still faces significant challenges. The lack of safety constraints…

We present a deep reinforcement learning framework based on Soft Actor-Critic (SAC) for safe and precise maneuvering of double-Ackermann-steering mobile robots (DASMRs). Unlike holonomic or simpler non-holonomic robots such as…

The option framework has shown great promise by automatically extracting temporally-extended sub-tasks from a long-horizon task. Methods have been proposed for concurrently learning low-level intra-option policies and high-level option…

A safe and efficient decision-making system is crucial for autonomous vehicles. However, the complexity of driving environments limits the effectiveness of many rule-based and machine learning approaches. Reinforcement Learning (RL), with…