相关论文: Self Training Autonomous Driving Agent

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…

Existing approaches in reinforcement learning train an agent to learn desired optimal behavior in an environment with rule based surrounding agents. In safety critical applications such as autonomous driving it is crucial that the rule…

Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown…

This work regards our preliminary investigation on the problem of path planning for autonomous vehicles that move on a freeway. We approach this problem by proposing a driving policy based on Reinforcement Learning. The proposed policy…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

The skill to drift a car--i.e., operate in a state of controlled oversteer like professional drivers--could give future autonomous cars maximum flexibility when they need to retain control in adverse conditions or avoid collisions. We…

Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

We propose a scheme for training a computerized agent to perform complex human tasks such as highway steering. The scheme is designed to follow a natural learning process whereby a human instructor teaches a computerized trainee. The…

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…

The field of reinforcement learning (RL) is facing increasingly challenging domains with combinatorial complexity. For an RL agent to address these challenges, it is essential that it can plan effectively. Prior work has typically utilized…

We investigate using reinforcement learning agents as generative models of images (extending arXiv:1804.01118). A generative agent controls a simulated painting environment, and is trained with rewards provided by a discriminator network…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

In safety-critical applications, autonomous agents may need to learn in an environment where mistakes can be very costly. In such settings, the agent needs to behave safely not only after but also while learning. To achieve this, existing…