Related papers: Learning to Drive Using Sparse Imitation Reinforce…
Making decisions in complex driving environments is a challenging task for autonomous agents. Imitation learning methods have great potentials for achieving such a goal. Adversarial Inverse Reinforcement Learning (AIRL) is one of the…
High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…
Developing an autonomous vehicle control strategy for signalised intersections (SI) is one of the challenging tasks due to its inherently complex decision-making process. This study proposes a Deep Reinforcement Learning (DRL) based…
Navigating unsignalized intersections in urban environments poses a complex challenge for self-driving vehicles, where issues such as view obstructions, unpredictable pedestrian crossings, and diverse traffic participants demand a great…
This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…
Lane change decision-making is a complex task due to intricate vehicle-vehicle and vehicle-infrastructure interactions. Existing algorithms for lane-change control often depend on vehicles with a certain level of autonomy (e.g., autonomous…
With the continued introduction of driverless events to Formula:Society of Automotive Engineers (F:SAE) competitions around the world, teams are investigating all aspects of the autonomous vehicle stack. This paper presents the use of Deep…
Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…
Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…
Data-driven offline reinforcement learning and imitation learning approaches have been gaining popularity in addressing sequential decision-making problems. Yet, these approaches rarely consider learning Pareto-optimal policies from a…
In this article, we explore the technical details of the reinforcement learning (RL) algorithms that were deployed in the largest field test of automated vehicles designed to smooth traffic flow in history as of 2023, uncovering the…
With the evolution of various advanced driver assistance system (ADAS) platforms, the design of autonomous driving system is becoming more complex and safety-critical. The autonomous driving system simultaneously activates multiple ADAS…
The dynamic nature of driving environments and the presence of diverse road users pose significant challenges for decision-making in autonomous driving. Deep reinforcement learning (DRL) has emerged as a popular approach to tackle this…
Deep reinforcement learning (DRL) has demonstrated remarkable success in developing autonomous driving policies. However, its vulnerability to adversarial attacks remains a critical barrier to real-world deployment. Although existing robust…
Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…
Microscopic traffic simulation plays a crucial role in transportation engineering by providing insights into individual vehicle behavior and overall traffic flow. However, creating a realistic simulator that accurately replicates human…
Deep reinforcement learning (DRL) has emerged as a promising paradigm for autonomous driving. However, despite their advanced capabilities, DRL-based policies remain highly vulnerable to adversarial attacks, posing serious safety risks in…
This paper presents a novel approach that supports natural language voice instructions to guide deep reinforcement learning (DRL) algorithms when training self-driving cars. DRL methods are popular approaches for autonomous vehicle (AV)…
In recent years, motion planning for urban self-driving cars (SDV) has become a popular problem due to its complex interaction of road components. To tackle this, many methods have relied on large-scale, human-sampled data processed through…
In the trial-and-error mechanism of reinforcement learning (RL), a notorious contradiction arises when we expect to learn a safe policy: how to learn a safe policy without enough data and prior model about the dangerous region? Existing…