相关论文: Affordance-based Reinforcement Learning for Urban …
The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…
In this paper, we continue our prior work on using imitation learning (IL) and model free reinforcement learning (RL) to learn driving policies for autonomous driving in urban scenarios, by introducing a model based RL method to drive the…
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…
In recent years, deep reinforcement learning has emerged as a technique to solve closed-loop flow control problems. Employing simulation-based environments in reinforcement learning enables a priori end-to-end optimization of the control…
With the development of deep representation learning, the domain of reinforcement learning (RL) has become a powerful learning framework now capable of learning complex policies in high dimensional environments. This review summarises deep…
We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…
With the rapidly growing interest in autonomous navigation, the body of research on motion planning and collision avoidance techniques has enjoyed an accelerating rate of novel proposals and developments. However, the complexity of new…
Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…
Despite the numerous advances, reinforcement learning remains away from widespread acceptance for autonomous controller design as compared to classical methods due to lack of ability to effectively tackle the reality gap. The reliance on…
Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…
In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…
Model-free reinforcement learning has recently been shown to successfully learn navigation policies from raw sensor data. In this work, we address the problem of learning driving policies for an autonomous agent in a high-fidelity…
For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…
This paper focuses on inverse reinforcement learning for autonomous navigation using distance and semantic category observations. The objective is to infer a cost function that explains demonstrated behavior while relying only on the…
Many existing traffic signal controllers are either simple adaptive controllers based on sensors placed around traffic intersections, or optimized by traffic engineers on a fixed schedule. Optimizing traffic controllers is time consuming…
Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…
We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…
There has been significant progress in sensing, perception, and localization for automated driving, However, due to the wide spectrum of traffic/road structure scenarios and the long tail distribution of human driver behavior, it has…
Traditional trajectory planning methods for autonomous vehicles have several limitations. For example, heuristic and explicit simple rules limit generalizability and hinder complex motions. These limitations can be addressed using…
Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…