相关论文: Simulation-based reinforcement learning for real-w…

Reinforcement learning has shown a wide usage in robotics tasks, such as insertion and grasping. However, without a practical sim2real strategy, the policy trained in simulation could fail on the real task. There are also wide researches in…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…

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…

In this paper, we present a state-of-the-art reinforcement learning method for autonomous driving. Our approach employs temporal difference learning in a Bayesian framework to learn vehicle control signals from sensor data. The agent has…

Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain,…

Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable simulators offer improved sample efficiency through exact…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

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…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Practitioners often rely on compute-intensive domain randomization to ensure reinforcement learning policies trained in simulation can robustly transfer to the real world. Due to unmodeled nonlinearities in the real system, however, even…

There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…

Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods---such as deep…

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…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…

Most of the current studies on autonomous vehicle decision-making and control tasks based on reinforcement learning are conducted in simulated environments. The training and testing of these studies are carried out under rule-based…

Training self-driving cars is often challenging since they require a vast amount of labeled data in multiple real-world contexts, which is computationally and memory intensive. Researchers often resort to driving simulators to train the…

An effective way to achieve intelligence is to simulate various intelligent behaviors in the human brain. In recent years, bio-inspired learning methods have emerged, and they are different from the classical mathematical programming…