相关论文: Combining Planning and Deep Reinforcement Learning…

In a typical traffic scenario, autonomous vehicles are required to share the road with other road participants, e.g., human driven vehicles, pedestrians, etc. To successfully navigate the traffic, a cognitive hierarchy theory such as…

Planning at execution time has been shown to dramatically improve performance for agents in both single-agent and multi-agent settings. A well-known family of approaches to planning at execution time are AlphaZero and its variants, which…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

Online planning under uncertainty remains a critical challenge in robotics and autonomous systems. While tree search techniques are commonly employed to construct partial future trajectories within computational constraints, most existing…

The training of autonomous agents often requires expensive and unsafe trial-and-error interactions with the environment. Nowadays several data sets containing recorded experiences of intelligent agents performing various tasks, spanning…

State of the art methods for robotic path planning in dynamic environments, such as crowds or traffic, rely on hand crafted motion models for agents. These models often do not reflect interactions of agents in real world scenarios. To…

Purpose: In recent years Monte-Carlo sampling methods, such as Monte Carlo tree search, have achieved tremendous success in model free reinforcement learning. A combination of the so called upper confidence bounds policy to preserve the…

In many risk-aware and multi-objective reinforcement learning settings, the utility of the user is derived from a single execution of a policy. In these settings, making decisions based on the average future returns is not suitable. For…

Constructing agents with planning capabilities has long been one of the main challenges in the pursuit of artificial intelligence. Tree-based planning methods from AlphaGo to Muzero have enjoyed huge success in discrete domains, such as…

In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…

Decentralized online planning can be an attractive paradigm for cooperative multi-agent systems, due to improved scalability and robustness. A key difficulty of such approach lies in making accurate predictions about the decisions of other…

Many current behavior generation methods struggle to handle real-world traffic situations as they do not scale well with complexity. However, behaviors can be learned off-line using data-driven approaches. Especially, reinforcement learning…

Reinforcement learning (RL) is attracting increasing interests in autonomous driving due to its potential to solve complex classification and control problems. However, existing RL algorithms are rarely applied to real vehicles for two…

Real-time planning under uncertainty is critical for robots operating in complex dynamic environments. Consider, for example, an autonomous robot vehicle driving in dense, unregulated urban traffic of cars, motorcycles, buses, etc. The…

Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…

As the industry of autonomous driving grows, so does the potential interaction of groups of autonomous cars. Combined with the advancement of Artificial Intelligence and simulation, such groups can be simulated, and safety-critical models…

Reinforcement learning (RL), with its ability to explore and optimize policies in complex, dynamic decision-making tasks, has emerged as a promising approach to addressing motion planning (MoP) challenges in autonomous driving (AD). Despite…

The aim of this work is to address the question of whether we can in principle design rational decision-making agents or artificial intelligences embedded in computable physics such that their decisions are optimal in reasonable…

Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-modality and behavioral uncertainties are engaged. Existing…

The history of learning for control has been an exciting back and forth between two broad classes of algorithms: planning and reinforcement learning. Planning algorithms effectively reason over long horizons, but assume access to a local…