相关论文: Stackelberg Meta-Learning Based Shared Control for…

Already today, driver assistance systems help to make daily traffic more comfortable and safer. However, there are still situations that are quite rare but are hard to handle at the same time. In order to cope with these situations and to…

We consider the problem of efficiently learning to play single-leader multi-follower Stackelberg games when the leader lacks knowledge of the lower-level game. Such games arise in hierarchical decision-making problems involving…

Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…

This paper presents a pioneering exploration into the integration of fine-grained human supervision within the autonomous driving domain to enhance system performance. The current advances in End-to-End autonomous driving normally are…

We study the mixed human-robot team design in a system theoretic setting using the context of a surveillance mission. The three key coupled components of a mixed team design are (i) policies for the human operator, (ii) policies to account…

Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…

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…

Data-driven control offers a viable option for control scenarios where constructing a system model is expensive or time-consuming. Nonetheless, many of these algorithms are not entirely automated, often necessitating the adjustment of…

Federated learning (FL) is susceptible to a range of security threats. Although various defense mechanisms have been proposed, they are typically non-adaptive and tailored to specific types of attacks, leaving them insufficient in the face…

Multi-agent learning provides a potential framework for learning and simulating traffic behaviors. This paper proposes a novel architecture to learn multiple driving behaviors in a traffic scenario. The proposed architecture can learn…

AI agents deployed in assistive roles often have to collaborate with other agents (humans, AI systems) without prior coordination. Methods considered state of the art for such ad hoc teamwork often pursue a data-driven approach that needs a…

Autonomous vehicles (AVs) are inevitably entering our lives with potential benefits for improved traffic safety, mobility, and accessibility. However, AVs' benefits also introduce a serious potential challenge, in the form of complex…

This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware…

As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…

In socially assistive robotics, an important research area is the development of adaptation techniques and their effect on human-robot interaction. We present a meta-learning based policy gradient method for addressing the problem of…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-modality and behavioral uncertainties are engaged. Existing…

A human-centered robot needs to reason about the cognitive limitation and potential irrationality of its human partner to achieve seamless interactions. This paper proposes an anytime game-theoretic planner that integrates iterative…

Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while…

This paper describes a framework for learning Automated Vehicles (AVs) driver models via knowledge sharing between vehicles and personalization. The innate variability in the transportation system makes it exceptionally challenging to…