相关论文: Dream to Drive with Predictive Individual World Mo…

Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to…

Observational learning requires an agent to learn to perform a task by referencing only observations of the performed task. This work investigates the equivalent setting in real-world robot learning where access to hand-designed rewards and…

Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…

Personalized driving refers to an autonomous vehicle's ability to adapt its driving behavior or control strategies to match individual users' preferences and driving styles while maintaining safety and comfort standards. However, existing…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

Modern approaches to autonomous driving rely heavily on learned components trained with large amounts of human driving data via imitation learning. However, these methods require large amounts of expensive data collection and even then face…

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Reinforcement Learning (RL) can mitigate the causal confusion and distribution shift inherent to imitation learning (IL). However, applying RL to end-to-end autonomous driving (E2E-AD) remains an open problem for its training difficulty,…

Offline inverse reinforcement learning (Offline IRL) aims to recover the structure of rewards and environment dynamics that underlie observed actions in a fixed, finite set of demonstrations from an expert agent. Accurate models of…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Autonomous vehicles trained through Multi-Agent Reinforcement Learning (MARL) have shown impressive results in many driving scenarios. However, the performance of these trained policies can be impacted when faced with diverse driving styles…

Making safe and human-like decisions is an essential capability of autonomous driving systems, and learning-based behavior planning presents a promising pathway toward achieving this objective. Distinguished from existing learning-based…

Diffusion-based world models have demonstrated strong capabilities in synthesizing realistic long-horizon trajectories for offline reinforcement learning (RL). However, many existing methods do not directly generate actions alongside states…

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…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Despite the popularity of reinforcement learning (RL) in wireless networks, existing approaches that rely on model-free RL (MFRL) and model-based RL (MBRL) are data inefficient and short-sighted. Such RL-based solutions cannot generalize to…

Reinforcement learning (RL) solves sequential decision-making problems via a trial-and-error process interacting with the environment. While RL achieves outstanding success in playing complex video games that allow huge trial-and-error,…

Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…

To further improve the learning efficiency and performance of reinforcement learning (RL), in this paper we propose a novel uncertainty-aware model-based RL (UA-MBRL) framework, and then implement and validate it in autonomous driving under…