相关论文: ApolloRL: a Reinforcement Learning Platform for Au…

While current autonomous navigation systems allow robots to successfully drive themselves from one point to another in specific environments, they typically require extensive manual parameter re-tuning by human robotics experts in order to…

Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…

There are many artificial intelligence algorithms for autonomous driving, but directly installing these algorithms on vehicles is unrealistic and expensive. At the same time, many of these algorithms need an environment to train and…

Although Reinforcement Learning (RL) has shown to be capable of producing impressive results, its use is limited by the impact of its hyperparameters on performance. This often makes it difficult to achieve good results in practice.…

Offline reinforcement learning (RL) aims to learn from historical data without requiring (costly) access to the environment. To facilitate offline RL research, we previously introduced NeoRL, which highlighted that datasets from real-world…

Evaluating autonomous vehicle stacks (AVs) in simulation typically involves replaying driving logs from real-world recorded traffic. However, agents replayed from offline data are not reactive and hard to intuitively control. Existing…

The combination of Reinforcement Learning (RL) with deep learning has led to a series of impressive feats, with many believing (deep) RL provides a path towards generally capable agents. However, the success of RL agents is often highly…

We present AlphaApollo, an agentic reasoning system that targets two bottlenecks in foundation-model reasoning: (1) limited reasoning capacity for complex, long-horizon problem solving and (2) unreliable test-time evolution without…

Reinforcement learning has become one of the most trending subjects in the recent decade. It has seen applications in various fields such as robot manipulations, autonomous driving, path planning, computer gaming, etc. We accomplished three…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Despite promising progress in reinforcement learning (RL), developing algorithms for autonomous driving (AD) remains challenging: one of the critical issues being the absence of an open-source platform capable of training and effectively…

Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…

We present PantheonRL, a multiagent reinforcement learning software package for dynamic training interactions such as round-robin, adaptive, and ad-hoc training. Our package is designed around flexible agent objects that can be easily…

Curriculum learning has demonstrated substantial effectiveness in robot learning. However, it still faces limitations when scaling to complex, wide-ranging task spaces. Such task spaces often lack a well-defined difficulty structure, making…

Deep reinforcement learning (DRL) has emerged as a powerful framework for solving sequential decision-making problems, achieving remarkable success in a wide range of applications, including game AI, autonomous driving, biomedicine, and…

Reinforcement learning (RL) is a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the…

Reinforcement Learning (RL), recognized as an efficient learning approach, has achieved remarkable success across multiple fields and applications, including gaming, robotics, and autonomous vehicles. Classical single-agent reinforcement…

Recent research on testing autonomous driving agents has grown significantly, especially in simulation environments. The CARLA simulator is often the preferred choice, and the autonomous agents from the CARLA Leaderboard challenge are…

This paper addresses the challenges of training end-to-end autonomous driving agents using Reinforcement Learning (RL). RL agents are typically trained in a fixed set of scenarios and nominal behavior of surrounding road users in…

This paper introduces CRITICAL, a novel closed-loop framework for autonomous vehicle (AV) training and testing. CRITICAL stands out for its ability to generate diverse scenarios, focusing on critical driving situations that target specific…