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

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Reinforcement Learning is a highly active research field with promising advancements. In the field of autonomous driving, however, often very simple scenarios are being examined. Common approaches use non-interpretable control commands as…

Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…

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…

World models enable planning in imagined future predicted space, offering a promising framework for embodied navigation. However, existing navigation world models often lack action-conditioned consistency, so visually plausible predictions…

The capability of imagining internally with a mental model of the world is vitally important for human cognition. If a machine intelligent agent can learn a world model to create a "dream" environment, it can then internally ask what-if…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

Although Deep Reinforcement Learning (DRL) and Large Language Models (LLMs) each show promise in addressing decision-making challenges in autonomous driving, DRL often suffers from high sample complexity, while LLMs have difficulty ensuring…

Robotic manipulation policies are commonly initialized through imitation learning, but their performance is limited by the scarcity and narrow coverage of expert data. Reinforcement learning can refine polices to alleviate this limitation,…

Preference-based reinforcement learning (PbRL) has emerged as a promising paradigm for teaching robots complex behaviors without reward engineering. However, its effectiveness is often limited by two critical challenges: the reliance on…

Model-based reinforcement learning (MBRL) is a crucial approach to enhance the generalization capabilities and improve the sample efficiency of RL algorithms. However, current MBRL methods focus primarily on building world models for single…

The abilities to understand the social interaction behaviors between a vehicle and its surroundings while predicting its trajectory in an urban environment are critical for road safety in autonomous driving. Social interactions are hard to…

Car-following behavior has been extensively studied using physics-based models, such as the Intelligent Driver Model. These models successfully interpret traffic phenomena observed in the real-world but may not fully capture the complex…

Typically, autonomous driving adopts a modular design, which divides the full stack into perception, prediction, planning and control parts. Though interpretable, such modular design tends to introduce a substantial amount of redundancy.…

Advances in the field of inverse reinforcement learning (IRL) have led to sophisticated inference frameworks that relax the original modeling assumption of observing an agent behavior that reflects only a single intention. Instead of…

Emerging vehicular systems with increasing proportions of automated components present opportunities for optimal control to mitigate congestion and increase efficiency. There has been a recent interest in applying deep reinforcement…

Reliable pedestrian crash avoidance mitigation (PCAM) systems are crucial components of safe autonomous vehicles (AVs). The nature of the vehicle-pedestrian interaction where decisions of one agent directly affect the other agent's optimal…

Visual coverage path planning with unmanned aerial vehicles (UAVs) requires agents to strategically coordinate UAV motion and camera control to maximize coverage, minimize redundancy, and maintain battery efficiency. Traditional…

We study the use of inverse reinforcement learning (IRL) as a tool for the recognition of agents' behavior on the basis of observation of their sequential decision behavior interacting with the environment. We model the problem faced by the…

Sample efficiency has been one of the major challenges for deep reinforcement learning. Recently, model-based reinforcement learning has been proposed to address this challenge by performing planning on imaginary trajectories with a learned…