相关论文: An End-to-end Deep Reinforcement Learning Approach…

Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…

We learn end-to-end point-to-point and path-following navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small,…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

Deep reinforcement learning is actively used for training autonomous car policies in a simulated driving environment. Due to the large availability of various reinforcement learning algorithms and the lack of their systematic comparison…

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

Accurate and interpretable motion planning is essential for autonomous vehicles (AVs) navigating complex and uncertain environments. While recent end-to-end occupancy prediction methods have improved environmental understanding, they…

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes.…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…

Reinforcement learning has steadily improved and outperform human in lots of traditional games since the resurgence of deep neural network. However, these success is not easy to be copied to autonomous driving because the state spaces in…

Autonomous deployment of unmanned aerial vehicles (UAVs) supporting next-generation communication networks requires efficient trajectory planning methods. We propose a new end-to-end reinforcement learning (RL) approach to UAV-enabled data…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

Out of the many deep reinforcement learning approaches for autonomous driving, only few make use of the options (or skills) framework. That is surprising, as this framework is naturally suited for hierarchical control applications in…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

Learning-based vehicle planning is receiving increasing attention with the emergence of diverse driving simulators and large-scale driving datasets. While offline reinforcement learning (RL) is well suited for these safety-critical tasks,…

Developing and testing automated driving models in the real world might be challenging and even dangerous, while simulation can help with this, especially for challenging maneuvers. Deep reinforcement learning (DRL) has the potential to…

We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system…