相关论文: Deep Learning of Robotic Tasks without a Simulator…

Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

In this paper we apply Deep Reinforcement Learning (Deep RL) and Domain Randomization to solve a navigation task in a natural environment relying solely on a 2D laser scanner. We train a model-based RL agent in simulation to follow lake and…

We demonstrate the first application of deep reinforcement learning to autonomous driving. From randomly initialised parameters, our model is able to learn a policy for lane following in a handful of training episodes using a single…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

Data-driven approaches for edge detection have proven effective and achieve top results on modern benchmarks. However, all current data-driven edge detectors require manual supervision for training in the form of hand-labeled region…

In the current level of evolution of Soccer 3D, motion control is a key factor in team's performance. Recent works takes advantages of model-free approaches based on Machine Learning to exploit robot dynamics in order to obtain faster…

Autonomous driving with reinforcement learning (RL) has significant potential. However, applying RL in real-world settings remains challenging due to the need for safe, efficient, and robust learning. Incorporating human expertise into the…

Learning to navigate in a realistic setting where an agent must rely solely on visual inputs is a challenging task, in part because the lack of position information makes it difficult to provide supervision during training. In this paper,…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

Recent advances in Reinforcement Learning (RL) combined with Deep Learning (DL) have demonstrated impressive performance in complex tasks, including autonomous driving. The use of RL agents in autonomous driving leads to a smooth human-like…

The current autonomous stack is well modularized and consists of perception, decision making and control in a handcrafted framework. With the advances in artificial intelligence (AI) and computing resources, researchers have been pushing…

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 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…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

A longstanding goal of artificial intelligence is to create artificial agents capable of learning to perform tasks that require sequential decision making. Importantly, while it is the artificial agent that learns and acts, it is still up…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…