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This paper proposes a method to combine reinforcement learning (RL) and imitation learning (IL) using a dynamic, performance-based modulation over learning signals. The proposed method combines RL and behavioral cloning (IL), or corrective…

Reinforcement Learning (RL) applied in healthcare can lead to unsafe medical decisions and treatment, such as excessive dosages or abrupt changes, often due to agents overlooking common-sense constraints. Consequently, Constrained…

Reinforcement Learning (RL) aims at learning an optimal behavior policy from its own experiments and not rule-based control methods. However, there is no RL algorithm yet capable of handling a task as difficult as urban driving. We present…

A model used for velocity control during car following was proposed based on deep reinforcement learning (RL). To fulfil the multi-objectives of car following, a reward function reflecting driving safety, efficiency, and comfort was…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

Soft snake robots offer remarkable flexibility and adaptability in complex environments, yet their control remains challenging due to highly nonlinear dynamics. Existing model-based and bio-inspired controllers rely on simplified…

Achieving both realism and controllability in closed-loop traffic simulation remains a key challenge in autonomous driving. Dataset-based methods reproduce realistic trajectories but suffer from covariate shift in closed-loop deployment,…

In this paper, we continue our prior work on using imitation learning (IL) and model free reinforcement learning (RL) to learn driving policies for autonomous driving in urban scenarios, by introducing a model based RL method to drive the…

Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Simulation offers a scalable and low-cost way to enrich vision-language-action (VLA) training, reducing reliance on expensive real-robot demonstrations. However, most sim-real co-training methods rely on supervised fine-tuning (SFT), which…

We develop provably safe and convergent reinforcement learning (RL) algorithms for control of nonlinear dynamical systems, bridging the gap between the hard safety guarantees of control theory and the convergence guarantees of RL theory.…

Performance and reliability analyses of autonomous vehicles (AVs) can benefit from tools that ``amplify'' small datasets to synthesize larger volumes of plausible samples of the AV's behavior. We consider a specific instance of this data…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…

The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations with more robustness to error compounding than behavioral…

Reinforcement learning (RL) is a promising solution for autonomous vehicles to deal with complex and uncertain traffic environments. The RL training process is however expensive, unsafe, and time consuming. Algorithms are often developed…

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…

Autonomous vehicles hold great promise for reducing traffic fatalities and improving transportation efficiency, yet their widespread adoption hinges on embedding credible and transparent ethical reasoning into routine and emergency…

End-to-end autonomous driving is typically built upon imitation learning (IL), yet its performance is constrained by the quality of human demonstrations. To overcome this limitation, recent methods incorporate reinforcement learning (RL)…