Related papers: Design of Reward Function on Reinforcement Learnin…
Reinforcement learning has emerged as an important approach for autonomous driving. A reward function is used in reinforcement learning to establish the learned skill objectives and guide the agent toward the optimal policy. Since…
Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…
Reward functions are central in reinforcement learning (RL), guiding agents towards optimal decision-making. The complexity of RL tasks requires meticulously designed reward functions that effectively drive learning while avoiding…
Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction data with the environment. Nevertheless, the reward function…
General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…
Reinforcement Learning (RL) is a promising approach for achieving autonomous driving due to robust decision-making capabilities. RL learns a driving policy through trial and error in traffic scenarios, guided by a reward function that…
Behavior and motion planning play an important role in automated driving. Traditionally, behavior planners instruct local motion planners with predefined behaviors. Due to the high scene complexity in urban environments, unpredictable…
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…
Crowd simulation is important for video-games design, since it enables to populate virtual worlds with autonomous avatars that navigate in a human-like manner. Reinforcement learning has shown great potential in simulating virtual crowds,…
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…
Reward design is a fundamental problem in reinforcement learning (RL). A misspecified or poorly designed reward can result in low sample efficiency and undesired behaviors. In this paper, we propose the idea of programmatic reward design,…
Autonomous parallel-style on-ramp merging in human controlled traffic continues to be an existing issue for autonomous vehicle control. Existing non-learning based solutions for vehicle control rely on rules and optimization primarily.…
This paper presents a new reward function that can be used for deep reinforcement learning in unmanned aerial vehicle (UAV) control and navigation problems. The reward function is based on the construction and estimation of the time of…
Reward function, as an incentive representation that recognizes humans' agency and rationalizes humans' actions, is particularly appealing for modeling human behavior in human-robot interaction. Inverse Reinforcement Learning is an…
Adaptive traffic signal control is one key avenue for mitigating the growing consequences of traffic congestion. Incumbent solutions such as SCOOT and SCATS require regular and time-consuming calibration, can't optimise well for multiple…
Reinforcement Learning (RL) plays a crucial role in advancing autonomous driving technologies by maximizing reward functions to achieve the optimal policy. However, crafting these reward functions has been a complex, manual process in many…
Reward design is a critical part of the application of reinforcement learning, the performance of which strongly depends on how well the reward signal frames the goal of the designer and how well the signal assesses progress in reaching…
Reinforcement Learning is proving a successful tool that can manage urban intersections with a fraction of the effort required to curate traditional traffic controllers. However, literature on the introduction and control of pedestrians to…
In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learning to model reward functions for an ego-car conducting a…
Reward functions are central in specifying the task we want a reinforcement learning agent to perform. Given a task and desired optimal behavior, we study the problem of designing informative reward functions so that the designed rewards…