相关论文: Trajectory Modeling via Random Utility Inverse Rei…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Inverse optimal control, also known as inverse reinforcement learning, is the problem of recovering an unknown reward function in a Markov decision process from expert demonstrations of the optimal policy. We introduce a probabilistic…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Autonomous agents optimize the reward function we give them. What they don't know is how hard it is for us to design a reward function that actually captures what we want. When designing the reward, we might think of some specific training…

The goal of inverse reinforcement learning (IRL) is to infer a reward function that explains the behavior of an agent performing a task. The assumption that most approaches make is that the demonstrated behavior is near-optimal. In many…

We address the problem of forecasting pedestrian and vehicle trajectories in unknown environments, conditioned on their past motion and scene structure. Trajectory forecasting is a challenging problem due to the large variation in scene…

We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…

Learning near-optimal behaviour from an expert's demonstrations typically relies on the assumption that the learner knows the features that the true reward function depends on. In this paper, we study the problem of learning from…

Cooperative trajectory planning methods for automated vehicles can solve traffic scenarios that require a high degree of cooperation between traffic participants. However, for cooperative systems to integrate into human-centered traffic,…

Maximum entropy reinforcement learning integrates exploration into policy learning by providing additional intrinsic rewards proportional to the entropy of some distribution. In this paper, we propose a novel approach in which the intrinsic…

Predicting distant future trajectories of agents in a dynamic scene is not an easy problem because the future trajectory of an agent is affected by not only his/her past trajectory but also the scene contexts. To tackle this problem, we…

Implementing an autonomous vehicle that is able to output feasible, smooth and efficient trajectories is a long-standing challenge. Several approaches have been considered, roughly falling under two categories: rule-based and learning-based…

Reinforcement Learning (RL) aims at learning an optimal behavior policy from its own experiments and not rule-based control methods. However, there is no RL algorithm yet capable of handling a task as difficult as urban driving. We present…

We study inverse reinforcement learning (IRL) and imitation learning (IM), the problems of recovering a reward or policy function from expert's demonstrated trajectories. We propose a new way to improve the learning process by adding a…

Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction data with the environment. Nevertheless, the reward function…

While most approaches to the problem of Inverse Reinforcement Learning (IRL) focus on estimating a reward function that best explains an expert agent's policy or demonstrated behavior on a control task, it is often the case that such…

Multi-agent learning is a promising method to simulate aggregate competitive behaviour in finance. Learning expert agents' reward functions through their external demonstrations is hence particularly relevant for subsequent design of…

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) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

Inverse reinforcement learning is the problem of inferring a reward function from an optimal policy or demonstrations by an expert. In this work, it is assumed that the reward is expressed as a reward machine whose transitions depend on…