相关论文: Residual Policy Learning for Vehicle Control of Au…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…

Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in…

Fleets of autonomous vehicles can mitigate traffic congestion through simple actions, thus improving many socioeconomic factors such as commute time and gas costs. However, these approaches are limited in practice as they assume precise…

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…

In this paper we present a Learning Model Predictive Controller (LMPC) for autonomous racing. We model the autonomous racing problem as a minimum time iterative control task, where an iteration corresponds to a lap. In the proposed approach…

Eco-driving strategies have been shown to provide significant reductions in fuel consumption. This paper outlines an active driver assistance approach that uses a residual policy learning (RPL) agent trained to provide residual actions to…

Typical autonomous driving systems are a combination of machine learning algorithms (often involving neural networks) and classical feedback controllers. Whilst significant progress has been made in recent years on the neural network side…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

We present Residual Policy Learning (RPL): a simple method for improving nondifferentiable policies using model-free deep reinforcement learning. RPL thrives in complex robotic manipulation tasks where good but imperfect controllers are…

In this work we focus on improving the efficiency and generalisation of learned navigation strategies when transferred from its training environment to previously unseen ones. We present an extension of the residual reinforcement learning…

Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning and…

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…

Autonomous racing presents a complex environment requiring robust controllers capable of making rapid decisions under dynamic conditions. While traditional controllers based on tire models are reliable, they often demand extensive tuning or…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

Iterative learning control has been successfully used for several decades to improve the performance of control systems that perform a single repeated task. Using information from prior control executions, learning controllers gradually…

To improve efficiency and reduce failures in autonomous vehicles, research has focused on developing robust and safe learning methods that take into account disturbances in the environment. Existing literature in robust reinforcement…

Autonomous car racing is a major challenge in robotics. It raises fundamental problems for classical approaches such as planning minimum-time trajectories under uncertain dynamics and controlling the car at the limits of its handling.…

Learning-based model predictive control has been widely applied in autonomous racing to improve the closed-loop behaviour of vehicles in a data-driven manner. When environmental conditions change, e.g., due to rain, often only the…

Conventional feedback control methods can solve various types of robot control problems very efficiently by capturing the structure with explicit models, such as rigid body equations of motion. However, many control problems in modern…