相关论文: Zero-shot Deep Reinforcement Learning Driving Poli…
Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…
We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…
Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…
Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…
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…
Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…
Due to limited resources and public safety concerns, deep reinforcement learning (RL) agents for many cyber-physical systems (e.g., autonomous vehicles) are first trained in simulators. However, when deployed in real world environments,…
A number of deep reinforcement-learning (RL) approaches propose to control traffic signals. In this work, we study the robustness of such methods along two axes. First, sensor failures and GPS occlusions create missing-data challenges and…
Deep reinforcement learning (DRL) has shown remarkable success in simulation domains, yet its application in designing robot controllers remains limited, due to its single-task orientation and insufficient adaptability to environmental…
Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…
We report on a study that employs an in-house developed simulation infrastructure to accomplish zero shot policy transferability for a control policy associated with a scale autonomous vehicle. We focus on implementing policies that require…
Advanced vehicle control is a fundamental building block in the development of autonomous driving systems. Reinforcement learning (RL) promises to achieve control performance superior to classical approaches while keeping computational…
This paper explores the application of deep reinforcement learning (RL) techniques in the domain of autonomous self-driving car racing. Motivated by the rise of AI-driven mobility and autonomous racing events, the project aims to develop an…
Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…
Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…
Using deep reinforcement learning, we train control policies for autonomous vehicles leading a platoon of vehicles onto a roundabout. Using Flow, a library for deep reinforcement learning in micro-simulators, we train two policies, one…
Reinforcement learning (RL) has shown promise in robotics, but deploying RL on real vehicles remains challenging due to the complexity of vehicle dynamics and the mismatch between simulation and reality. Factors such as tire…
Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…
In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…
The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…