相关论文: Multi-task Safe Reinforcement Learning for Navigat…

Decision making in dense traffic can be challenging for autonomous vehicles. An autonomous system only relying on predefined road priorities and considering other drivers as moving objects will cause the vehicle to freeze and fail the…

In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…

The transition from today's mostly human-driven traffic to a purely automated one will be a gradual evolution, with the effect that we will likely experience mixed traffic in the near future. Connected and automated vehicles can benefit…

Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…

We study the design of learning architectures for behavioural planning in a dense traffic setting. Such architectures should deal with a varying number of nearby vehicles, be invariant to the ordering chosen to describe them, while staying…

Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods---such as deep…

Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…

In this paper, we explore the challenges associated with navigating complex T-intersections in dense traffic scenarios for autonomous vehicles (AVs). Reinforcement learning algorithms have emerged as a promising approach to address these…

Maneuvering in dense traffic is a challenging task for autonomous vehicles because it requires reasoning about the stochastic behaviors of many other participants. In addition, the agent must achieve the maneuver within a limited time and…

It is widely acknowledged that verifying the safety of autonomous driving strategies requires a substantial body of simulation testing and road testing. In recent years, the formal safety methods represented by Responsibility-Sensitive…

Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…

Traffic simulation has gained a lot of interest for quantitative evaluation of self driving vehicles performance. In order for a simulator to be a valuable test bench, it is required that the driving policy animating each traffic agent in…

In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

In mixed-traffic environments, autonomous vehicles must adapt to human-controlled vehicles and other unusual driving situations. This setting can be framed as a multi-agent reinforcement learning (MARL) environment with full cooperative…

In this work, we present a reward-driven automated curriculum reinforcement learning approach for interaction-aware self-driving at unsignalized intersections, taking into account the uncertainties associated with surrounding vehicles…

Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing…

We propose a model-free reinforcement learning method for controlling mixed autonomy traffic in simulated traffic networks with through-traffic-only two-way and four-way intersections. Our method utilizes multi-agent policy decomposition…

Traffic congestion in dense urban centers presents an economical and environmental burden. In recent years, the availability of vehicle-to-anything communication allows for the transmission of detailed vehicle states to the infrastructure…