相关论文: Iterative Imitation Policy Improvement for Interac…

Autonomous driving is a complex task, which has been tackled since the first self-driving car ALVINN in 1989, with a supervised learning approach, or behavioral cloning (BC). In BC, a neural network is trained with state-action pairs that…

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

Modern approaches to autonomous driving rely heavily on learned components trained with large amounts of human driving data via imitation learning. However, these methods require large amounts of expensive data collection and even then face…

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…

Imitation learning holds great promise for addressing the complex task of autonomous urban driving, as experienced human drivers can navigate highly challenging scenarios with ease. While behavior cloning is a widely used imitation learning…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

Although Behavioral Cloning (BC) in theory suffers compounding errors, its scalability and simplicity still makes it an attractive imitation learning algorithm. In contrast, imitation approaches with adversarial training typically does not…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Machine learning (ML)-based planners have recently gained significant attention. They offer advantages over traditional optimization-based planning algorithms. These advantages include fewer manually selected parameters and faster…

An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…

To ensure user acceptance of autonomous vehicles (AVs), control systems are being developed to mimic human drivers from demonstrations of desired driving behaviors. Imitation learning (IL) algorithms serve this purpose, but struggle to…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

Current methods for end-to-end constructive neural combinatorial optimization usually train a policy using behavior cloning from expert solutions or policy gradient methods from reinforcement learning. While behavior cloning is…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Traffic simulation provides interactive data for the optimization of traffic control policies. However, existing traffic simulators are limited by their lack of scalability and shortage in input data, which prevents them from generating…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…