相关论文: Hierarchical Generative Adversarial Imitation Lear…

The capability to learn and adapt to changes in the driving environment is crucial for developing autonomous driving systems that are scalable beyond geo-fenced operational design domains. Deep Reinforcement Learning (RL) provides a…

We consider the challenge of automated steering angle prediction for self driving cars using egocentric road images. In this work, we explore the use of feudal networks, used in hierarchical reinforcement learning (HRL), to devise a vehicle…

Inverse Reinforcement Learning (IRL) learns an optimal policy, given some expert demonstrations, thus avoiding the need for the tedious process of specifying a suitable reward function. However, current methods are constrained by at least…

Ensuring safety in autonomous driving (AD) remains a significant challenge, especially in highly dynamic and complex traffic environments where diverse agents interact and unexpected hazards frequently emerge. Traditional reinforcement…

Evaluating the decision-making system is indispensable in developing autonomous vehicles, while realistic and challenging safety-critical test scenarios play a crucial role. Obtaining these scenarios is non-trivial, thanks to the…

In this study, we address the challenge of obstacle avoidance for Unmanned Aerial Vehicles (UAVs) through an innovative composite imitation learning approach that combines Proximal Policy Optimization (PPO) with Behavior Cloning (BC) and…

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…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

When facing the problem of autonomously learning multiple tasks with reinforcement learning systems, researchers typically focus on solutions where just one parametrised policy per task is sufficient to solve them. However, in complex…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

The aim of this work is to develop an approach that enables Unmanned Aerial System (UAS) to efficiently learn to navigate in large-scale urban environments and transfer their acquired expertise to novel environments. To achieve this, we…

Vision-Language-Action (VLA) models are emerging as highly effective planning models for end-to-end autonomous driving systems. However, current works mostly rely on imitation learning from sparse trajectory annotations and under-utilize…

Analyzing the handwriting generation process is an important issue and has been tackled by various generation models, such as kinematics based models and stochastic models. In this study, we use a reinforcement learning (RL) framework to…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Penetration testing (PT) is an efficient network testing and vulnerability mining tool by simulating a hacker's attack for valuable information applied in some areas. Compared with manual PT, intelligent PT has become a dominating…

Human actions are based on the mental perception of the environment. Even when all the aspects of an environment are not visible, humans have an internal mental model that can generalize the partially visible scenes to fully constructed and…

Auto-encoding generative adversarial networks (GANs) combine the standard GAN algorithm, which discriminates between real and model-generated data, with a reconstruction loss given by an auto-encoder. Such models aim to prevent mode…

Imitation Learning (IL) is a widely adopted approach which enables agents to learn from human expert demonstrations by framing the task as a supervised learning problem. However, IL often suffers from causal confusion, where agents…

We propose a new method for event extraction (EE) task based on an imitation learning framework, specifically, inverse reinforcement learning (IRL) via generative adversarial network (GAN). The GAN estimates proper rewards according to the…

Generative adversarial networks (GANs) are among the most successful models for learning high-complexity, real-world distributions. However, in theory, due to the highly non-convex, non-concave landscape of the minmax training objective,…