相关论文: Guided Policy Search Model-based Reinforcement Lea…
Model-based reinforcement learning (RL) is anticipated to exhibit higher sample efficiency compared to model-free RL by utilizing a virtual environment model. However, it is challenging to obtain sufficiently accurate representations of the…
This paper proposes a method to combine reinforcement learning (RL) and imitation learning (IL) using a dynamic, performance-based modulation over learning signals. The proposed method combines RL and behavioral cloning (IL), or corrective…
For real-world deployments, it is critical to allow robots to navigate in complex environments autonomously. Traditional methods usually maintain an internal map of the environment, and then design several simple rules, in conjunction with…
In this paper, we present a Model-Based Reinforcement Learning (MBRL) algorithm named \emph{Monte Carlo Probabilistic Inference for Learning COntrol} (MC-PILCO). The algorithm relies on Gaussian Processes (GPs) to model the system dynamics…
We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…
We propose a multi-time-scale predictive representation learning method to efficiently learn robust driving policies in an offline manner that generalize well to novel road geometries, and damaged and distracting lane conditions which are…
Deep reinforcement learning (DRL) has been demonstrated to be effective for several complex decision-making applications such as autonomous driving and robotics. However, DRL is notoriously limited by its high sample complexity and its lack…
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 a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the…
Powered by deep representation learning, reinforcement learning (RL) provides an end-to-end learning framework capable of solving self-driving (SD) tasks without manual designs. However, time-varying nonstationary environments cause…
Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…
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…
Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…
The applicability of reinforcement learning (RL) algorithms in real-world domains often requires adherence to safety constraints, a need difficult to address given the asymptotic nature of the classic RL optimization objective. In contrast…
On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy learning. However, how to encourage the agent to explore the…
Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…
Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…
Reinforcement Learning (RL) can mitigate the causal confusion and distribution shift inherent to imitation learning (IL). However, applying RL to end-to-end autonomous driving (E2E-AD) remains an open problem for its training difficulty,…
The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…
Meta-reinforcement learning (RL) methods can meta-train policies that adapt to new tasks with orders of magnitude less data than standard RL, but meta-training itself is costly and time-consuming. If we can meta-train on offline data, then…