Related papers: Formulation and validation of a car-following mode…
Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…
In this article, we investigate the long-term behavior of the ``Bando--follow-the-leader'' car-following model, whose well-posedness and stability with respect to delay were analyzed in a recent work \cite{gong2023well}. We first establish…
We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train…
Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…
Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…
Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…
Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…
Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…
The capability to follow a lead-vehicle and avoid rear-end collisions is one of the most important functionalities for human drivers and various Advanced Driver Assist Systems (ADAS). Existing safety performance justification of the…
Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…
This research presents a novel active detection model utilizing deep reinforcement learning to accurately detect traffic objects in real-world scenarios. The model employs a deep Q-network based on LSTM-CNN that identifies and aligns target…
In this paper, we develop a mechanical system inspired microscopic traffic model to characterize the longitudinal interaction dynamics among a chain of vehicles. In particular, we extend our prior work on mass-spring-damper-clutch based…
Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…
Model-free reinforcement learning (RL) is a powerful, general tool for learning complex behaviors. However, its sample efficiency is often impractically large for solving challenging real-world problems, even with off-policy algorithms such…
Providing a suitable reward function to reinforcement learning can be difficult in many real world applications. While inverse reinforcement learning (IRL) holds promise for automatically learning reward functions from demonstrations,…
Car-following models (CFMs) are fundamental to traffic flow analysis and autonomous driving. Although calibrated physics-based and trained data-driven CFMs can replicate human driving behavior, their reliance on specific datasets limits…
To alleviate energy shortages and environmental impacts caused by transportation, this study introduces EcoFollower, a novel eco-car-following model developed using reinforcement learning (RL) to optimize fuel consumption in car-following…
This study aims to discover the governing mathematical expressions of car-following dynamics from trajectory data directly using deep learning techniques. We propose an expression exploration framework based on deep symbolic regression…
Reinforcement learning has steadily improved and outperform human in lots of traditional games since the resurgence of deep neural network. However, these success is not easy to be copied to autonomous driving because the state spaces in…
Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-Of-Distribution (OOD) generalization to…