相关论文: MADRaS : Multi Agent Driving Simulator

Using Deep Reinforcement Learning (DRL) can be a promising approach to handle various tasks in the field of (simulated) autonomous driving. However, recent publications mainly consider learning in unusual driving environments. This paper…

Multi-agent trajectory data collected from domains such as team sports often suffer from missing values due to various factors. While many imputation methods have been proposed for spatiotemporal data, they are not well-suited for…

Multi-Agent Reinforcement Learning (MARL) algorithms are widely adopted in tackling complex tasks that require collaboration and competition among agents in dynamic Multi-Agent Systems (MAS). However, learning such tasks from scratch is…

This paper introduces YamaS, a simulator integrating Unity3D Engine with Robotic Operating System for robot navigation research and aims to facilitate the development of both Deep Reinforcement Learning (Deep-RL) and Natural Language…

In this paper a deep reinforcement based multi-agent path planning approach is introduced. The experiments are realized in a simulation environment and in this environment different multi-agent path planning problems are produced. The…

As artificial intelligence (AI) technology advances, ensuring the robustness and safety of AI-driven systems has become paramount. However, varying perceptions of robustness among AI developers create misaligned evaluation metrics,…

Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…

Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…

We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for training and evaluating algorithms for autonomous racing. The…

Scalable multi-agent driving simulation requires behavior models that are both realistic and computationally efficient. We address this by optimizing the behavior model that controls individual traffic participants. To improve efficiency,…

Multi-Agent Reinforcement Learning (MARL) presents a promising approach for addressing the complexity of Traffic Signal Control (TSC) in urban environments. However, existing platforms for MARL-based TSC research face challenges such as…

Multi-agent systems (MAS) are foundational in simulating complex real-world scenarios involving autonomous, interacting entities. However, traditional MAS architectures often suffer from rigid coordination mechanisms and difficulty adapting…

In autonomous racing, reactive controllers eliminate the computational burden of the full See-Think-Act autonomy stack by directly mapping sensor inputs to control actions. This bypasses the need for explicit localization and trajectory…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

This paper proposes a hierarchical autonomous vehicle navigation architecture, composed of a high-level speed and lane advisory system (SLAS) coupled with low-level trajectory generation and trajectory following modules. Specifically, we…

We present Topology-Guided ORCA as an alternative simulator to replace ORCA for planning smooth multi-agent motions in environments with static obstacles. Despite the impressive performance in simulating multi-agent crowd motion in free…

Multi-agent reinforcement learning (MARL) achieves encouraging performance in solving complex tasks. However, the safety of MARL policies is one critical concern that impedes their real-world applications. Popular multi-agent benchmarks…

As cities evolve toward more complex and multimodal transportation systems, the need for human-centered multi-agent simulation tools has never been more urgent. Yet most existing platforms remain limited - they often separate different…

Traffic signal control is a critical challenge in urban transportation, requiring coordination among multiple intersections to optimize network-wide traffic flow. While reinforcement learning has shown promise for adaptive signal control,…

Generating realistic and diverse road scenarios is essential for autonomous vehicle testing and validation. Nevertheless, owing to the complexity and variability of real-world road environments, creating authentic and varied scenarios for…