相关论文: Runtime Safety Assurance for Learning-enabled Cont…

It is anticipated that the era of fully autonomous vehicle operations will be preceded by a lengthy "Transition Period" where the traffic stream will be mixed, that is, consisting of connected autonomous vehicles (CAVs), human-driven…

The use of neural networks and reinforcement learning has become increasingly popular in autonomous vehicle control. However, the opaqueness of the resulting control policies presents a significant barrier to deploying neural network-based…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…

Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process. Real world systems would realistically fail or break…

Deep Reinforcement Learning (DRL) enables cognitive Autonomous Ground Vehicle (AGV) navigation utilizing raw sensor data without a-priori maps or GPS, which is a necessity in hazardous, information poor environments such as regions where…

Reinforcement Learning (RL) is a promising approach for achieving autonomous driving due to robust decision-making capabilities. RL learns a driving policy through trial and error in traffic scenarios, guided by a reward function that…

We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…

Reinforcement Learning (RL) is increasingly used in autonomous driving (AD) and shows clear advantages. However, most RL-based AD methods overlook policy structure design. An RL policy that only outputs short-timescale vehicle control…

Data for training learning-enabled self-driving cars in the physical world are typically collected in a safe, normal environment. Such data distribution often engenders a strong bias towards safe driving, making self-driving cars unprepared…

Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computationally inefficient and sensitive to environmental changes.…

While artificial-intelligence-based methods suffer from lack of transparency, rule-based methods dominate in safety-critical systems. Yet, the latter cannot compete with the first ones in robustness to multiple requirements, for instance,…

Reinforcement learning (RL) has attracted increasing interest for adaptive traffic signal control due to its model-free ability to learn control policies directly from interaction with the traffic environment. However, several challenges…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle…

Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

Safety is an essential component for deploying reinforcement learning (RL) algorithms in real-world scenarios, and is critical during the learning process itself. A natural first approach toward safe RL is to manually specify constraints on…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…