相关论文: Robust Autonomy Emerges from Self-Play

The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…

Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…

Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they…

Reinforcement learning (RL) is attracting increasing interests in autonomous driving due to its potential to solve complex classification and control problems. However, existing RL algorithms are rarely applied to real vehicles for two…

Reinforcement learning from self-play has recently reported many successes. Self-play, where the agents compete with themselves, is often used to generate training data for iterative policy improvement. In previous work, heuristic rules are…

The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…

A model used for velocity control during car following was proposed based on deep reinforcement learning (RL). To fulfil the multi-objectives of car following, a reward function reflecting driving safety, efficiency, and comfort was…

Self-play reinforcement learning has demonstrated significant success in learning complex strategic and interactive behaviors in competitive multi-agent games. However, achieving such behaviors in continuous decision spaces remains…

We present a training pipeline for the autonomous driving task given the current camera image and vehicle speed as the input to produce the throttle, brake, and steering control output. The simulator Airsim's convenient weather and lighting…

We address the problem of ego-vehicle navigation in dense simulated traffic environments populated by road agents with varying driver behaviors. Navigation in such environments is challenging due to unpredictability in agents' actions…

This paper proposes a novel learning-based framework for autonomous driving based on the concept of maximal safety probability. Efficient learning requires rewards that are informative of desirable/undesirable states, but such rewards are…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Self-play is an unsupervised training procedure which enables the reinforcement learning agents to explore the environment without requiring any external rewards. We augment the self-play setting by providing an external memory where the…

We consider autonomous racing of two cars and present an approach to formulate racing decisions as a non-cooperative non-zero-sum game. We design three different games where the players aim to fulfill static track constraints as well as…

The self-driving based on deep reinforcement learning, as the most important application of artificial intelligence, has become a popular topic. Most of the current self-driving methods focus on how to directly learn end-to-end self-driving…

Autonomous systems can substantially enhance a human's efficiency and effectiveness in complex environments. Machines, however, are often unable to observe the preferences of the humans that they serve. Despite the fact that the human's and…

Safety is a primary concern when applying reinforcement learning to real-world control tasks, especially in the presence of external disturbances. However, existing safe reinforcement learning algorithms rarely account for external…

Developing autonomous vehicles (AVs) requires not only safety and efficiency, but also realistic, human-like behaviors that are socially aware and predictable. Achieving this requires sim agent policies that are human-like, fast, and…

While reinforcement learning algorithms have had great success in the field of autonomous navigation, they cannot be straightforwardly applied to the real autonomous systems without considering the safety constraints. The later are crucial…