相关论文: End-to-End Model-Free Reinforcement Learning for U…

Autonomous-driving research has recently embraced deep Reinforcement Learning (RL) as a promising framework for data-driven decision making, yet a clear picture of how these algorithms are currently employed, benchmarked and evaluated is…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

Reinforcement Learning (RL) is a general framework concerned with an agent that seeks to maximize rewards in an environment. The learning typically happens through trial and error using explorative methods, such as epsilon-greedy. There are…

Urban traffic congestion presents a significant challenge for modern cities, which impacts mobility and sustainability. Traditional traffic light control systems often fail to adapt to dynamic conditions, leading to inefficiencies. This…

Reinforcement learning (RL) holds significant promise for adaptive traffic signal control. While existing RL-based methods demonstrate effectiveness in reducing vehicular congestion, their predominant focus on vehicle-centric optimization…

In this paper, we address the issue of increasing the performance of reinforcement learning (RL) solutions for autonomous racing cars when navigating under conditions where practical vehicle modelling errors (commonly known as \emph{model…

In the past decades, we have witnessed significant progress in the domain of autonomous driving. Advanced techniques based on optimization and reinforcement learning (RL) become increasingly powerful at solving the forward problem: given…

Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…

In this paper, we continue our prior work on using imitation learning (IL) and model free reinforcement learning (RL) to learn driving policies for autonomous driving in urban scenarios, by introducing a model based RL method to drive the…

Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…

We prove a fundamental limitation on the efficiency of a wide class of Reinforcement Learning (RL) algorithms. This limitation applies to model-free RL methods as well as a broad range of model-based methods, such as planning with tree…

As a popular concept proposed in the field of psychology, affordance has been regarded as one of the important abilities that enable humans to understand and interact with the environment. Briefly, it captures the possibilities and effects…

This communication on collision avoidance with unexpected obstacles is motivated by some critical appraisals on reinforcement learning (RL) which "requires ridiculously large numbers of trials to learn any new task" (Yann LeCun). We use the…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Offline reinforcement learning (RL) provides a framework for learning decision-making from offline data and therefore constitutes a promising approach for real-world applications as automated driving. Self-driving vehicles (SDV) learn a…

A significant challenge for the practical application of reinforcement learning in the real world is the need to specify an oracle reward function that correctly defines a task. Inverse reinforcement learning (IRL) seeks to avoid this…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

Traffic signal control is one of the most effective methods of traffic management in urban areas. In recent years, traffic control methods based on deep reinforcement learning (DRL) have gained attention due to their ability to exploit…

Reinforcement learning (RL) methods learn optimal decisions in the presence of a stationary environment. However, the stationary assumption on the environment is very restrictive. In many real world problems like traffic signal control,…

Offline Reinforcement Learning (RL) aims at learning an optimal control from a fixed dataset, without interactions with the system. An agent in this setting should avoid selecting actions whose consequences cannot be predicted from the…