相关论文: Iterative Imitation Policy Improvement for Interac…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Standard Behavior Cloning (BC) fails to learn multimodal driving decisions, where multiple valid actions exist for the same scenario. We explore Implicit Behavioral Cloning (IBC) with Energy-Based Models (EBMs) to better capture this…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…

Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we…

In this work we are the first to present an offline policy gradient method for learning imitative policies for complex urban driving from a large corpus of real-world demonstrations. This is achieved by building a differentiable data-driven…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

This paper proposes a imitation learning model for autonomous driving on highway traffic by mimicking human drivers' driving behaviours. The study utilizes the HighD traffic dataset, which is complex, high-dimensional, and diverse in…

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…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Our goal is to train a policy for autonomous driving via imitation learning that is robust enough to drive a real vehicle. We find that standard behavior cloning is insufficient for handling complex driving scenarios, even when we leverage…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving. We combine MPC with a hierarchical learning-based policy,…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

Traffic simulation has gained a lot of interest for quantitative evaluation of self driving vehicles performance. In order for a simulator to be a valuable test bench, it is required that the driving policy animating each traffic agent in…