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

As we move towards a mixed-traffic scenario of Autonomous vehicles (AVs) and Human-driven vehicles (HDVs), understanding the car-following behaviour is important to improve traffic efficiency and road safety. Using a real-world trajectory…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

In the Reinforcement Learning (RL) framework, the learning is guided through a reward signal. This means that in situations of sparse rewards the agent has to focus on exploration, in order to discover which action, or set of actions leads…

Modeling car-following behavior is fundamental to microscopic traffic simulation, yet traditional deterministic models often fail to capture the full extent of variability and unpredictability in human driving. While many modern approaches…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Reinforcement learning (RL) with sparse and deceptive rewards is challenging because non-zero rewards are rarely obtained. Hence, the gradient calculated by the agent can be stochastic and without valid information. Recent studies that…

Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…

The dynamic motion primitive-based (DMP) method is an effective method of learning from demonstrations. However, most of the current DMP-based methods focus on learning one task with one module. Although, some deep learning-based frameworks…

This paper deploys the Deep Deterministic Policy Gradient (DDPG) algorithm for longitudinal and lateral control of a simulated car to solve a path following task. The DDPG agent was implemented using PyTorch and trained and evaluated on a…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

Automated vehicles are envisioned to navigate safely in complex mixed-traffic scenarios alongside human-driven vehicles. To promise a high degree of safety, accurately predicting the maneuvers of surrounding vehicles and their future…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Developing and testing automated driving models in the real world might be challenging and even dangerous, while simulation can help with this, especially for challenging maneuvers. Deep reinforcement learning (DRL) has the potential to…

There are two main algorithmic approaches to autonomous driving systems: (1) An end-to-end system in which a single deep neural network learns to map sensory input directly into appropriate warning and driving responses. (2) A mediated…

Understanding and representing traffic patterns are key to detecting anomalous trajectories in the transportation domain. However, some trajectories can exhibit heterogeneous maneuvering characteristics despite confining to normal patterns.…

We propose DiscoverDCP, a data-driven framework that integrates symbolic regression with the rule sets of Disciplined Convex Programming (DCP) to perform system identification. By enforcing that all discovered candidate model expressions…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

With reinforcement learning, an agent could learn complex behaviors from high-level abstractions of the task. However, exploration and reward shaping remained challenging for existing methods, especially in scenarios where the extrinsic…