相关论文: Query-Efficient Imitation Learning for End-to-End …

In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an underactuated…

Encouraged by the remarkable achievements of language and vision foundation models, developing generalist robotic agents through imitation learning, using large demonstration datasets, has become a prominent area of interest in robot…

Reinforcement learning has been demonstrated to outperform even the best humans in complex domains like video games. However, running reinforcement learning experiments on the required scale for autonomous driving is extremely difficult.…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Model-free reinforcement learning has been successfully applied to a range of challenging problems, and has recently been extended to handle large neural network policies and value functions. However, the sample complexity of model-free…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

Stemming on the idea that a key objective in reinforcement learning is to invert a target distribution of effects, end-effect drives are proposed as an effective way to implement goal-directed motor learning, in the absence of an explicit…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

In this paper we investigate the use of MPC-inspired neural network policies for sequential decision making. We introduce an extension to the DAgger algorithm for training such policies and show how they have improved training performance…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

Recent advances in machine learning, especially techniques such as deep neural networks, are enabling a range of emerging applications. One such example is autonomous driving, which often relies on deep learning for perception. However,…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…

Over the past few years there is a growing interest in the learning-based self driving system. To ensure safety, such systems are first developed and validated in simulators before being deployed in the real world. However, most of the…

In this work, we present a rigorous end-to-end control strategy for autonomous vehicles aimed at minimizing lap times in a time attack racing event. We also introduce AutoRACE Simulator developed as a part of this research project, which…

Vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, while still lacking…

Episodic self-imitation learning, a novel self-imitation algorithm with a trajectory selection module and an adaptive loss function, is proposed to speed up reinforcement learning. Compared to the original self-imitation learning algorithm,…

Safe reinforcement learning is a promising path toward applying reinforcement learning algorithms to real-world problems, where suboptimal behaviors may lead to actual negative consequences. In this work, we focus on the setting where…