相关论文: Robust Autonomy Emerges from Self-Play

In this paper, we study the decision making of multiple autonomous vehicles at a roundabout. The behaviours of the vehicles depend on their aggressiveness, which indicates how much they value speed over safety. We propose a distributed…

Traffic simulators are important tools in autonomous driving development. While continuous progress has been made to provide developers more options for modeling various traffic participants, tuning these models to increase their behavioral…

Driving safely requires multiple capabilities from human and intelligent agents, such as the generalizability to unseen environments, the safety awareness of the surrounding traffic, and the decision-making in complex multi-agent settings.…

Game-based interactive driving simulations have emerged as versatile platforms for advancing decision-making algorithms in road transport mobility. While these environments offer safe, scalable, and engaging settings for testing driving…

Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…

We consider the interaction among agents engaging in a driving task and we model it as general-sum game. This class of games exhibits a plurality of different equilibria posing the issue of equilibrium selection. While selecting the most…

In this paper, a synergistic combination of deep reinforcement learning and hierarchical game theory is proposed as a modeling framework for behavioral predictions of drivers in highway driving scenarios. The need for a modeling framework…

Game-theoretic approaches are envisioned to bring human-like reasoning skills and decision-making processes for autonomous vehicles (AVs). However, challenges including game complexity and incomplete information still remain to be addressed…

In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…

Fictitious play (FP) is a canonical game-theoretic learning algorithm which has been deployed extensively in decentralized control scenarios. However standard treatments of FP, and of many other game-theoretic models, assume rather…

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system…

Playing two-player games using reinforcement learning and self-play can be challenging due to the complexity of two-player environments and the possible instability in the training process. We propose that a reinforcement learning algorithm…

Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…

We present a reinforcement learning-based solution to autonomously race on a miniature race car platform. We show that a policy that is trained purely in simulation using a relatively simple vehicle model, including model randomization, can…

Professional race-car drivers can execute extreme overtaking maneuvers. However, existing algorithms for autonomous overtaking either rely on simplified assumptions about the vehicle dynamics or try to solve expensive…

We demonstrate the first application of deep reinforcement learning to autonomous driving. From randomly initialised parameters, our model is able to learn a policy for lane following in a handful of training episodes using a single…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

How can we reliably simulate future driving scenarios under a wide range of ego driving behaviors? Recent driving world models, developed exclusively on real-world driving data composed mainly of safe expert trajectories, struggle to follow…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…