相关论文: Reward (Mis)design for Autonomous Driving

In many RL applications, once training ends, it is vital to detect any deterioration in the agent performance as soon as possible. Furthermore, it often has to be done without modifying the policy and under minimal assumptions regarding the…

Reinforcement Learning is proving a successful tool that can manage urban intersections with a fraction of the effort required to curate traditional traffic controllers. However, literature on the introduction and control of pedestrians to…

Transparency and explainability are important features that responsible autonomous vehicles should possess, particularly when interacting with humans, and causal reasoning offers a strong basis to provide these qualities. However, even if…

We can often verify the correctness of neural network outputs using ground truth labels, but we cannot reliably determine whether the output was produced by normal or anomalous internal mechanisms. Mechanistic anomaly detection (MAD) aims…

Reasoning about safety, security, and other dependability attributes of autonomous systems is a challenge that needs to be addressed before the adoption of such systems in day-to-day life. Formal methods is a class of methods that…

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…

Groundbreaking successes have been achieved by Deep Reinforcement Learning (DRL) in solving practical decision-making problems. Robotics, in particular, can involve high-cost hardware and human interactions. Hence, scrupulous evaluations of…

While our understanding of fairness in machine learning has significantly progressed, our understanding of fairness in reinforcement learning (RL) remains nascent. Most of the attention has been on fairness in one-shot classification tasks;…

Machine learning has the potential to fuel further advances in data science, but it is greatly hindered by an ad hoc design process, poor data hygiene, and a lack of statistical rigor in model evaluation. Recently, these issues have begun…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

We consider off-policy policy evaluation with function approximation (FA) in average-reward MDPs, where the goal is to estimate both the reward rate and the differential value function. For this problem, bootstrapping is necessary and,…

Transfer of recent advances in deep reinforcement learning to real-world applications is hindered by high data demands and thus low efficiency and scalability. Through independent improvements of components such as replay buffers or more…

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…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

The correct specification of reward models is a well-known challenge in reinforcement learning. Hand-crafted reward functions often lead to inefficient or suboptimal policies and may not be aligned with user values. Reinforcement learning…

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…

Explainable AI techniques that describe agent reward functions can enhance human-robot collaboration in a variety of settings. One context where human understanding of agent reward functions is particularly beneficial is in the value…

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…

In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…