相关论文: Discovering Car-following Dynamics from Trajectory…

Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…

Identifying governing equations for a dynamical system is a topic of critical interest across an array of disciplines, from mathematics to engineering to biology. Machine learning -- specifically deep learning -- techniques have shown their…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

While deep reinforcement learning (RL) has been increasingly applied in designing car-following models in the last years, this study aims at investigating the feasibility of RL-based vehicle-following for complex vehicle dynamics and strong…

How to improve the ability of scene representation is a key issue in vision-oriented decision-making applications, and current approaches usually learn task-relevant state representations within visual reinforcement learning to address this…

This paper develops a novel car-following control method to reduce voluntary driver interventions and improve traffic stability in Automated Vehicles (AVs). Through a combination of experimental and empirical analysis, we show how voluntary…

The upgrading and updating of vehicles have accelerated in the past decades. Out of the need for environmental friendliness and intelligence, electric vehicles (EVs) and connected and automated vehicles (CAVs) have become new components of…

While recent progress in deep reinforcement learning has enabled robots to learn complex behaviors, tasks with long horizons and sparse rewards remain an ongoing challenge. In this work, we propose an effective reward shaping method through…

Most state-of-the-art works in trajectory forecasting for automotive target predicting the pose and orientation of the agents in the scene. This represents a particularly useful problem, for instance in autonomous driving, but it does not…

Driving behavior modeling is of great importance for designing safe, smart, and personalized autonomous driving systems. In this paper, an internal reward function-based driving model that emulates the human's decision-making mechanism is…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Intersections where vehicles are permitted to turn and interact with vulnerable road users (VRUs) like pedestrians and cyclists are among some of the most challenging locations for automated and accurate recognition of road users' behavior.…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Reinforcement learning (RL) is attracting attention as an effective way to solve sequential optimization problems that involve high dimensional state/action space and stochastic uncertainties. Many such problems involve constraints…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…

We study the problem of high-dimensional regression when there may be interacting variables. Approaches using sparsity-inducing penalty functions such as the Lasso can be useful for producing interpretable models. However, when the number…

We present a novel approach to automatically identify driver behaviors from vehicle trajectories and use them for safe navigation of autonomous vehicles. We propose a novel set of features that can be easily extracted from car trajectories.…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

Symbolic regression (SR) aims to discover concise closed-form mathematical equations from data, a task fundamental to scientific discovery. However, the problem is highly challenging because closed-form equations lie in a complex…