基于混合渐进专家网络的自主驾驶持续适应

基于学习的自主驾驶需要在复杂交通环境中持续集成多样化知识，但现有方法在适应性方面存在显著局限。 addressed by this gap requires autonomous driving systems that enable continual adaptation through dynamic adjustments to evolving environmental interactions. This underscores the necessity for enhanced continual learning capabilities to improve system adaptability. To address these challenges, the paper introduces a dynamic progressive optimization framework that facilitates adaptation to variations in dynamic environments, achieved by integrating reinforcement learning and supervised learning for data aggregation. Building on this framework, we propose the Mixture of Progressive Experts (MoPE) network. The proposed method selectively activates multiple expert models based on the distinct characteristics of each task and progressively refines the network architecture to facilitate adaptation to new tasks. Simulation results show that the MoPE model outperforms behavior cloning methods, achieving up to a 7.8% performance improvement in intricate urban road environments.