相关论文: AdaWM: Adaptive World Model based Planning for Aut…

End-to-end autonomous driving seeks to solve the perception, decision, and control problems in an integrated way, which can be easier to generalize at scale and be more adapting to new scenarios. However, high costs and risks make it very…

Reinforcement learning (RL) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…

Offline reinforcement learning (RL) allows for the training of competent agents from offline datasets without any interaction with the environment. Online finetuning of such offline models can further improve performance. But how should we…

Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by learning directly from image input. A deep neural network is used as a function approximator and requires no specific state information.…

Offline reinforcement learning (RL) aims to find a near-optimal policy using pre-collected datasets. In real-world scenarios, data collection could be costly and risky; therefore, offline RL becomes particularly challenging when the…

In this work, we introduce the Time-Aware World Model (TAWM), a model-based approach that explicitly incorporates temporal dynamics. By conditioning on the time-step size, {\Delta}t, and training over a diverse range of {\Delta}t values --…

Classical navigation systems typically operate using a fixed set of hand-picked parameters (e.g. maximum speed, sampling rate, inflation radius, etc.) and require heavy expert re-tuning in order to work in new environments. To mitigate this…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

We introduce a reinforcement learning (RL) based adaptive optimization algorithm for aerodynamic shape optimization focused on dimensionality reduction. The form in which RL is applied here is that of a surrogate-based, actor-critic policy…

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level…

Intelligent agents should have the ability to leverage knowledge from previously learned tasks in order to learn new ones quickly and efficiently. Meta-learning approaches have emerged as a popular solution to achieve this. However,…

Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…

With the impact of real-time processing being realized in the recent past, the need for efficient implementations of reinforcement learning algorithms has been on the rise. Albeit the numerous advantages of Bellman equations utilized in RL…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Urban autonomous driving is an open and challenging problem to solve as the decision-making system has to account for several dynamic factors like multi-agent interactions, diverse scene perceptions, complex road geometries, and other…

Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow.…

This study proposes a framework for human-like autonomous car-following planning based on deep reinforcement learning (deep RL). Historical driving data are fed into a simulation environment where an RL agent learns from trial and error…

Fine-tuning large pre-trained language models on downstream tasks has become an important paradigm in NLP. However, common practice fine-tunes all of the parameters in a pre-trained model, which becomes prohibitive when a large number of…

Standard fine-tuning of large pre-trained language models (PLMs) for downstream tasks requires updating hundreds of millions to billions of parameters, and storing a large copy of the PLM weights for every task resulting in increased cost…