相关论文: Autonomous Racing using a Hybrid Imitation-Reinfor…

Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…

Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

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…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

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…

The classical method of autonomous racing uses real-time localisation to follow a precalculated optimal trajectory. In contrast, end-to-end deep reinforcement learning (DRL) can train agents to race using only raw LiDAR scans. While…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…

A central challenge for autonomous vehicles is coordinating with humans. Therefore, incorporating realistic human agents is essential for scalable training and evaluation of autonomous driving systems in simulation. Simulation agents are…

In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an underactuated…

The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…

Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…

A model used for velocity control during car following was proposed based on deep reinforcement learning (RL). To fulfil the multi-objectives of car following, a reward function reflecting driving safety, efficiency, and comfort was…

In this work, we consider the problem of autonomous racing with multiple agents where agents must interact closely and influence each other to compete. We model interactions among agents through a game-theoretical framework and propose an…

This report demonstrates several methods used to make a self-driving vehicle using a supervised learning algorithm and a forward-facing RGBD camera. The project originally involved research in creating an adversarial attack on the vehicle's…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

When autonomous vehicles are deployed on public roads, they will encounter countless and diverse driving situations. Many manually designed driving policies are difficult to scale to the real world. Fortunately, reinforcement learning has…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…