相关论文: Inverse Reinforcement Learning Based Stochastic Dr…
Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…
We consider the problem of recovering an expert's reward function with inverse reinforcement learning (IRL) when there are missing/incomplete state-action pairs or observations in the demonstrated trajectories. This issue of missing…
Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…
With the continued introduction of driverless events to Formula:Society of Automotive Engineers (F:SAE) competitions around the world, teams are investigating all aspects of the autonomous vehicle stack. This paper presents the use of Deep…
This paper presents a method for learning logical task specifications and cost functions from demonstrations. Constructing specifications by hand is challenging for complex objectives and constraints in autonomous systems. Instead, we…
In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…
Inverse reinforcement learning (IRL) aims to learn a reward function and a corresponding policy that best fit the demonstrated trajectories of an expert. However, current IRL works cannot learn incrementally from an ongoing trajectory…
We study the use of inverse reinforcement learning (IRL) as a tool for the recognition of agents' behavior on the basis of observation of their sequential decision behavior interacting with the environment. We model the problem faced by the…
Autonomous driving with reinforcement learning (RL) has significant potential. However, applying RL in real-world settings remains challenging due to the need for safe, efficient, and robust learning. Incorporating human expertise into the…
Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…
In this work, we propose a hierarchical reinforcement learning (HRL) structure which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network…
Explicit engineering of reward functions for given environments has been a major hindrance to reinforcement learning methods. While Inverse Reinforcement Learning (IRL) is a solution to recover reward functions from demonstrations only,…
Reinforcement learning (RL) has been widely used in decision-making and control tasks, but the risk is very high for the agent in the training process due to the requirements of interaction with the environment, which seriously limits its…
Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain,…
Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…
Offline reinforcement learning (RL) presents distinct challenges as it relies solely on observational data. A central concern in this context is ensuring the safety of the learned policy by quantifying uncertainties associated with various…
In this paper, the inverse reinforcement learning (IRL) problem is addressed to reconstruct the unknown cost function underlying an observed optimal policy in a model-free manner, whose online adaptation with completely off-policy system…
Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…
Inverse reinforcement learning (IRL) is the problem of finding a reward function that generates a given optimal policy for a given Markov Decision Process. This paper looks at an algorithmic-independent geometric analysis of the IRL problem…
The multiagent-based participatory simulation features prominently in urban planning as the acquired model is considered as the hybrid system of the domain and the local knowledge. However, the key problem of generating realistic agents for…