相关论文: CW-ERM: Improving Autonomous Driving Planning with…

This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

The multi-label classification problem has generated significant interest in recent years. However, existing approaches do not adequately address two key challenges: (a) the ability to tackle problems with a large number (say millions) of…

Learning interactive motion behaviors among multiple agents is a core challenge in autonomous driving. While imitation learning models generate realistic trajectories, they often inherit biases from datasets dominated by safe…

Developing simple, sample-efficient learning algorithms for robust classification is a pressing issue in today's tech-dominated world, and current theoretical techniques requiring exponential sample complexity and complicated improper…

So-called implicit behavioral cloning with energy-based models has shown promising results in robotic manipulation tasks. We tested if the method's advantages carry on to controlling the steering of a real self-driving car with an…

Automatic prompt engineering aims to enhance the generation quality of large language models (LLMs). Recent works utilize feedbacks generated from erroneous cases to guide the prompt optimization. During inference, they may further retrieve…

Probabilistic learning to rank (LTR) has been the dominating approach for optimizing the ranking metric, but cannot maximize long-term rewards. Reinforcement learning models have been proposed to maximize user long-term rewards by…

Many potential applications of reinforcement learning (RL) are stymied by the large numbers of samples required to learn an effective policy. This is especially true when applying RL to real-world control tasks, e.g. in the sciences or…

Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…

Despite the rapid expansion of electric vehicle (EV) charging networks, questions remain about their efficiency in meeting the growing needs of EV drivers. Previous simulation-based approaches, which rely on static behavioural rules, have…

The objective of this paper is to develop a sample efficient end-to-end deep learning method for self-driving cars, where we attempt to increase the value of the information extracted from samples, through careful analysis obtained from…

Reliable navigation systems have a wide range of applications in robotics and autonomous driving. Current approaches employ an open-loop process that converts sensor inputs directly into actions. However, these open-loop schemes are…

We introduce an offline reinforcement learning (RL) algorithm that explicitly clones a behavior policy to constrain value learning. In offline RL, it is often important to prevent a policy from selecting unobserved actions, since the…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…

We study the problem of estimating Dynamic Discrete Choice (DDC) models, also known as offline Maximum Entropy-Regularized Inverse Reinforcement Learning (offline MaxEnt-IRL) in machine learning. The objective is to recover reward or $Q^*$…

Standard Behavior Cloning (BC) fails to learn multimodal driving decisions, where multiple valid actions exist for the same scenario. We explore Implicit Behavioral Cloning (IBC) with Energy-Based Models (EBMs) to better capture this…