相关论文: Deep Surrogate Q-Learning for Autonomous Driving

Recent advances in supervised learning and reinforcement learning have provided new opportunities to apply related methodologies to automated driving. However, there are still challenges to achieve automated driving maneuvers in dynamically…

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up…

Training reinforcement learning (RL) agents to control fluid dynamics systems is computationally expensive due to the high cost of direct numerical simulations (DNS) of the governing equations. Surrogate models offer a promising alternative…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

High-performance scientific simulations, important for comprehension of complex systems, encounter computational challenges especially when exploring extensive parameter spaces. There has been an increasing interest in developing deep…

Data-driven simulators promise high data-efficiency for driving policy learning. When used for modelling interactions, this data-efficiency becomes a bottleneck: Small underlying datasets often lack interesting and challenging edge cases…

Deep reinforcement learning (DRL) is a promising method to learn control policies for robots only from demonstration and experience. To cover the whole dynamic behaviour of the robot, DRL training is an active exploration process typically…

Applications of reinforcement learning (RL) are popular in autonomous driving tasks. That being said, tuning the performance of an RL agent and guaranteeing the generalization performance across variety of different driving scenarios is…

Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…

Artificial neural networks are promising for general function approximation but challenging to train on non-independent or non-identically distributed data due to catastrophic forgetting. The experience replay buffer, a standard component…

Popular Maximum Entropy Inverse Reinforcement Learning approaches require the computation of expected state visitation frequencies for the optimal policy under an estimate of the reward function. This usually requires intermediate value…

The assessment of safety performance plays a pivotal role in the development and deployment of connected and automated vehicles (CAVs). A common approach involves designing testing scenarios based on prior knowledge of CAVs (e.g., surrogate…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…

In this work, we study adaptive data-guided traffic planning and control using Reinforcement Learning (RL). We shift from the plain use of classic methods towards state-of-the-art in deep RL community. We embed several recent techniques in…

Reinforcement Learning (RL) offers a promising framework for autonomous driving by enabling agents to learn control policies through interaction with environments. However, large and high-dimensional action spaces often used to support…

This paper concerns automated vehicles negotiating with other vehicles, typically human driven, in crossings with the goal to find a decision algorithm by learning typical behaviors of other vehicles. The vehicle observes distance and speed…

Autonomous driving at unsignalized intersections is still considered a challenging application for machine learning due to the complications associated with handling complex multi-agent scenarios characterized by a high degree of…

In this paper, we propose a new autonomous braking system based on deep reinforcement learning. The proposed autonomous braking system automatically decides whether to apply the brake at each time step when confronting the risk of collision…

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…