相关论文: Perception as prediction using general value funct…

Reinforcement learning using a novel predictive representation is applied to autonomous driving to accomplish the task of driving between lane markings where substantial benefits in performance and generalization are observed on unseen test…

General value functions (GVFs) in the reinforcement learning (RL) literature are long-term predictive summaries of the outcomes of agents following specific policies in the environment. Affordances as perceived action possibilities with…

Behaviour prediction function of an autonomous vehicle predicts the future states of the nearby vehicles based on the current and past observations of the surrounding environment. This helps enhance their awareness of the imminent hazards.…

This paper shows how a single mechanism allows knowledge to be constructed layer by layer directly from an agent's raw sensorimotor stream. This mechanism, the General Value Function (GVF) or "forecast," captures high-level, abstract…

Autonomous vehicle (AV) navigation in the presence of Human-driven vehicles (HVs) is challenging, as HVs continuously update their policies in response to AVs. In order to navigate safely in the presence of complex AV-HV social…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

In computational reinforcement learning, a growing body of work seeks to construct an agent's perception of the world through predictions of future sensations; predictions about environment observations are used as additional input features…

Agents of general intelligence deployed in real-world scenarios must adapt to ever-changing environmental conditions. While such adaptive agents may leverage engineered knowledge, they will require the capacity to construct and evaluate…

Constructing general knowledge by learning task-independent models of the world can help agents solve challenging problems. However, both constructing and evaluating such models remains an open challenge. The most common approaches to…

Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…

In the field of conditional autonomous driving technology, driver perceived risk prediction plays a crucial role in reducing traffic risks and ensuring passenger safety. This study introduces an innovative perceived risk prediction model…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

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…

Evaluating the safety of an autonomous vehicle (AV) depends on the behavior of surrounding agents which can be heavily influenced by factors such as environmental context and informally-defined driving etiquette. A key challenge is in…

In computational reinforcement learning, a growing body of work seeks to express an agent's model of the world through predictions about future sensations. In this manuscript we focus on predictions expressed as General Value Functions:…

By observing their environment as well as other traffic participants, humans are enabled to drive road vehicles safely. Vehicle passengers, however, perceive a notable difference between non-experienced and experienced drivers. In…

Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to…

In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle's trajectory is determined by…