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Emerging vehicular systems with increasing proportions of automated components present opportunities for optimal control to mitigate congestion and increase efficiency. There has been a recent interest in applying deep reinforcement…
Reinforcement Learning (RL) is essentially a trial-and-error learning procedure which may cause unsafe behavior during the exploration-and-exploitation process. This hinders the application of RL to real-world control problems, especially…
Deep reinforcement learning (DRL) has been used to learn effective heuristics for solving complex combinatorial optimisation problem via policy networks and have demonstrated promising performance. Existing works have focused on solving…
Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…
Offline reinforcement learning (RL) optimizes the policy on a previously collected dataset without any interactions with the environment, yet usually suffers from the distributional shift problem. To mitigate this issue, a typical solution…
Reinforcement learning (RL)-based driver assistance systems seek to improve fuel consumption via continual improvement of powertrain control actions considering experiential data from the field. However, the need to explore diverse…
Safe reinforcement learning (Safe RL) refers to a class of techniques that aim to prevent RL algorithms from violating constraints in the process of decision-making and exploration during trial and error. In this paper, a novel model-free…
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…
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…
Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…
This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…
An inverse reinforcement learning (IRL) agent learns to act intelligently by observing expert demonstrations and learning the expert's underlying reward function. Although learning the reward functions from demonstrations has achieved great…
Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…
Human drivers have limited and time-varying cognitive resources when making decisions in real-world traffic scenarios, which often leads to unique and stochastic behaviors that can not be explained by perfect rationality assumption, a…
Autonomous parking is a critical component for achieving safe and efficient urban autonomous driving. However, unstructured environments and dynamic interactions pose significant challenges to autonomous parking tasks. To address this…
Hierarchical reinforcement learning (RL) can accelerate long-horizon decision-making by temporally abstracting a policy into multiple levels. Promising results in sparse reward environments have been seen with skills, i.e. sequences of…
Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…
Although Deep Reinforcement Learning (DRL) and Large Language Models (LLMs) each show promise in addressing decision-making challenges in autonomous driving, DRL often suffers from high sample complexity, while LLMs have difficulty ensuring…
In offline Imitation Learning (IL), one of the main challenges is the \textit{covariate shift} between the expert observations and the actual distribution encountered by the agent, because it is difficult to determine what action an agent…
Using Deep Reinforcement Learning (DRL) can be a promising approach to handle various tasks in the field of (simulated) autonomous driving. However, recent publications mainly consider learning in unusual driving environments. This paper…