相关论文: Autonomous Racing using a Hybrid Imitation-Reinfor…
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…
Reinforcement Learning (RL) in games has gained significant momentum in recent years, enabling the creation of different agent behaviors that can transform a player's gaming experience. However, deploying RL agents in production…
Intrinsically, driving is a Markov Decision Process which suits well the reinforcement learning paradigm. In this paper, we propose a novel agent which learns to drive a vehicle without any human assistance. We use the concept of…
Autonomous overtaking at high speeds is a challenging multi-agent robotics research problem. The high-speed and close proximity situations that arise in multi-agent autonomous racing require designing algorithms that trade off aggressive…
In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…
We present research using the latest reinforcement learning algorithm for end-to-end driving without any mediated perception (object recognition, scene understanding). The newly proposed reward and learning strategies lead together to…
This study proposes a framework for human-like autonomous car-following planning based on deep reinforcement learning (deep RL). Historical driving data are fed into a simulation environment where an RL agent learns from trial and error…
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…
This paper explores the application of deep reinforcement learning (RL) techniques in the domain of autonomous self-driving car racing. Motivated by the rise of AI-driven mobility and autonomous racing events, the project aims to develop an…
This research aims to investigate professional racing drivers' expertise to develop an understanding of their cognitive and adaptive skills to create new autonomy algorithms. An expert interview study was conducted with 11 professional race…
We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…
In the past decades, we have witnessed significant progress in the domain of autonomous driving. Advanced techniques based on optimization and reinforcement learning (RL) become increasingly powerful at solving the forward problem: given…
Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS),…
We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…
In this paper, we address the issue of increasing the performance of reinforcement learning (RL) solutions for autonomous racing cars when navigating under conditions where practical vehicle modelling errors (commonly known as \emph{model…
In this paper, we propose Sparse Imitation Reinforcement Learning (SIRL), a hybrid end-to-end control policy that combines the sparse expert driving knowledge with reinforcement learning (RL) policy for autonomous driving (AD) task in CARLA…
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…
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…
In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…
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…