相关论文: Traffic expertise meets residual RL: Knowledge-inf…
Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…
A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…
When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…
The deployment of Autonomous Vehicles (AVs) poses considerable challenges and unique opportunities for the design and management of future urban road infrastructure. In light of this disruptive transformation, the Right-Of-Way (ROW)…
Many existing traffic signal controllers are either simple adaptive controllers based on sensors placed around traffic intersections, or optimized by traffic engineers on a fixed schedule. Optimizing traffic controllers is time consuming…
Diffusion models are powerful generative models that allow for precise control over the characteristics of the generated samples. While these diffusion models trained on large datasets have achieved success, there is often a need to…
System optimal traffic routing can mitigate congestion by assigning routes for a portion of vehicles so that the total travel time of all vehicles in the transportation system can be reduced. However, achieving real-time optimal routing…
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…
The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations with more robustness to error compounding than behavioral…
Reinforcement Learning (RL) has the potential to surpass human performance in driving without needing any expert supervision. Despite its promise, the state-of-the-art in sensorimotor self-driving is dominated by imitation learning methods…
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…
Model-based reinforcement learning (RL) algorithms designed for handling complex visual observations typically learn some sort of latent state representation, either explicitly or implicitly. Standard methods of this sort do not distinguish…
Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computationally inefficient and sensitive to environmental changes.…
Autonomous driving faces challenges in navigating complex real-world traffic, requiring safe handling of both common and critical scenarios. Reinforcement learning (RL), a prominent method in end-to-end driving, enables agents to learn…
Due to the high efficiency and less weather dependency, autonomous greenhouses provide an ideal solution to meet the increasing demand for fresh food. However, managers are faced with some challenges in finding appropriate control…
This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
In this work, we study adaptive data-guided traffic planning and control using Reinforcement Learning (RL). We shift from the plain use of classic methods towards state-of-the-art in deep RL community. We embed several recent techniques in…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…
Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…