相关论文: Robust Autonomy Emerges from Self-Play

To improve efficiency and reduce failures in autonomous vehicles, research has focused on developing robust and safe learning methods that take into account disturbances in the environment. Existing literature in robust reinforcement…

Large-scale data is crucial for learning realistic and capable driving policies. However, it can be impractical to rely on scaling datasets with real data alone. The majority of driving data is uninteresting, and deliberately collecting new…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

Reinforcement learning has been demonstrated to outperform even the best humans in complex domains like video games. However, running reinforcement learning experiments on the required scale for autonomous driving is extremely difficult.…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

Autonomous car racing is a major challenge in robotics. It raises fundamental problems for classical approaches such as planning minimum-time trajectories under uncertain dynamics and controlling the car at the limits of its handling.…

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…

Simulation agents are essential for designing and testing systems that interact with humans, such as autonomous vehicles (AVs). These agents serve various purposes, from benchmarking AV performance to stress-testing system limits, but all…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

Decision-making for autonomous driving is challenging, considering the complex interactions among multiple traffic agents (e.g., autonomous vehicles (AVs), human drivers, and pedestrians) and the computational load needed to evaluate these…

Self-play is a technique for machine learning in multi-agent systems where a learning algorithm learns by interacting with copies of itself. Self-play is useful for generating large quantities of data for learning, but has the drawback that…

In the past two decades, autonomous driving has been catalyzed into reality by the growing capabilities of machine learning. This paradigm shift possesses significant potential to transform the future of mobility and reshape our society as…

Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…

Autonomous systems, such as self-driving vehicles, quadrupeds, and robot manipulators, are largely enabled by the rapid development of artificial intelligence. However, such systems involve several trustworthy challenges such as safety,…

Recent Autonomous Driving (AD) works such as GigaFlow and PufferDrive have unlocked Reinforcement Learning (RL) at scale as a training strategy for driving policies. Yet such policies remain disconnected from established benchmarks, leaving…

Rather than learning new control policies for each new task, it is possible, when tasks share some structure, to compose a "meta-policy" from previously learned policies. This paper reports results from experiments using Deep Reinforcement…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

In this work, we present a rigorous end-to-end control strategy for autonomous vehicles aimed at minimizing lap times in a time attack racing event. We also introduce AutoRACE Simulator developed as a part of this research project, which…

Acquiring multiple skills has commonly involved collecting a large number of expert demonstrations per task or engineering custom reward functions. Recently it has been shown that it is possible to acquire a diverse set of skills by…