相关论文: Learning to Drive via Asymmetric Self-Play

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…

Autonomous driving research currently faces data sparsity in representation of risky scenarios. Such data is both difficult to obtain ethically in the real world, and unreliable to obtain via simulation. Recent advances in virtual reality…

Active traffic management with autonomous vehicles offers the potential for reduced congestion and improved traffic flow. However, developing effective algorithms for real-world scenarios requires overcoming challenges related to…

The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…

Asymmetric self-play has emerged as a promising paradigm for post-training large language models, where a teacher continually generates questions for a student to solve at the edge of the student's learnability. Although these methods…

Most self-driving systems rely on hand-coded perception outputs and engineered driving rules. Learning directly from human driving data with an end-to-end method can allow for a training architecture that is simpler and scales well with…

Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…

Developing autonomous vehicles (AVs) requires not only safety and efficiency, but also realistic, human-like behaviors that are socially aware and predictable. Achieving this requires sim agent policies that are human-like, fast, and…

Traffic simulation has gained a lot of interest for quantitative evaluation of self driving vehicles performance. In order for a simulator to be a valuable test bench, it is required that the driving policy animating each traffic agent in…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

Recently, autonomous driving has made substantial progress in addressing the most common traffic scenarios like intersection navigation and lane changing. However, most of these successes have been limited to scenarios with well-defined…

Robotic agents must adopt existing social conventions in order to be effective teammates. These social conventions, such as driving on the right or left side of the road, are arbitrary choices among optimal policies, but all agents on a…

Making sophisticated, robust, and safe sequential decisions is at the heart of intelligent systems. This is especially critical for planning in complex multi-agent environments, where agents need to anticipate other agents' intentions and…

Expert human drivers perform actions relying on traffic laws and their previous experience. While traffic laws are easily embedded into an artificial brain, modeling human complex behaviors which come from past experience is a more…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

This work regards our preliminary investigation on the problem of path planning for autonomous vehicles that move on a freeway. We approach this problem by proposing a driving policy based on Reinforcement Learning. The proposed policy…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

Training robots with physical bodies requires developing new methods and action representations that allow the learning agents to explore the space of policies efficiently. This work studies sample-efficient learning of complex policies in…

While autonomous vehicles have achieved reliable performance within specific operating regions, their deployment to new cities remains costly and slow. A key bottleneck is the need to collect many human demonstration trajectories when…

Simulation is a crucial tool for accelerating the development of autonomous vehicles. Making simulation realistic requires models of the human road users who interact with such cars. Such models can be obtained by applying learning from…