相关论文: Deep Reinforcement Learning with Enhanced Safety f…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Modern approaches to autonomous driving rely heavily on learned components trained with large amounts of human driving data via imitation learning. However, these methods require large amounts of expensive data collection and even then face…

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Drifting is a complicated task for autonomous vehicle control. Most traditional methods in this area are based on motion equations derived by the understanding of vehicle dynamics, which is difficult to be modeled precisely. We propose a…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…

We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent…

Reinforcement learning is a powerful paradigm for learning optimal policies from experimental data. However, to find optimal policies, most reinforcement learning algorithms explore all possible actions, which may be harmful for real-world…

In recent years, Deep Reinforcement Learning emerged as a promising approach for autonomous navigation of ground vehicles and has been utilized in various areas of navigation such as cruise control, lane changing, or obstacle avoidance.…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…

The rapid development of artificial intelligence, especially deep learning technology, has advanced autonomous driving systems (ADSs) by providing precise control decisions to counterpart almost any driving event, spanning from anti-fatigue…

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…

Autonomous vehicles have the potential to revolutionize transportation, but they must be able to navigate safely in traffic before they can be deployed on public roads. The goal of this project is to train autonomous vehicles to make…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

Highly automated driving requires precise models of traffic participants. Many state of the art models are currently based on machine learning techniques. Among others, the required amount of labeled data is one major challenge. An…

Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…