相关论文: SPACeR: Self-Play Anchoring with Centralized Refer…

We introduce Autoverse, an evolvable, domain-specific language for single-player 2D grid-based games, and demonstrate its use as a scalable training ground for Open-Ended Learning (OEL) algorithms. Autoverse uses cellular-automaton-like…

Despite ample motivation from costly exploration and limited trajectory data, rapidly adapting to new environments with few-shot reinforcement learning (RL) can remain a challenging task, especially with respect to personalized settings.…

Autonomous parking is a critical component for achieving safe and efficient urban autonomous driving. However, unstructured environments and dynamic interactions pose significant challenges to autonomous parking tasks. To address this…

We develop a Multi-Agent Reinforcement Learning (MARL) method to learn scalable control policies for target tracking. Our method can handle an arbitrary number of pursuers and targets; we show results for tasks consisting up to 1000…

This paper addresses the challenges of training end-to-end autonomous driving agents using Reinforcement Learning (RL). RL agents are typically trained in a fixed set of scenarios and nominal behavior of surrounding road users in…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

The autoregressive world model exhibits robust generalization capabilities in vectorized scene understanding but encounters difficulties in deriving actions due to insufficient uncertainty modeling and self-delusion. In this paper, we…

We consider offline reinforcement learning (RL) with heterogeneous agents under severe data scarcity, i.e., we only observe a single historical trajectory for every agent under an unknown, potentially sub-optimal policy. We find that the…

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,…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

There is a recent trend of applying multi-agent reinforcement learning (MARL) to train an agent that can cooperate with humans in a zero-shot fashion without using any human data. The typical workflow is to first repeatedly run self-play…

Decision making for self-driving cars is usually tackled by manually encoding rules from drivers' behaviors or imitating drivers' manipulation using supervised learning techniques. Both of them rely on mass driving data to cover all…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…

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…

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…

The ability to conduct and learn from interaction and experience is a central challenge in robotics, offering a scalable alternative to labor-intensive human demonstrations. However, realizing such "play" requires (1) a policy robust to…

Sampling-based trajectory planners are widely used for agile autonomous driving due to their ability to generate fast, smooth, and kinodynamically feasible trajectories. However, their behavior is often governed by a cost function with…

In this paper, we propose the first fully push-forward-based distributional reinforcement learning algorithm, named PACER, which consists of a distributional critic, a stochastic actor and a sample-based encourager. Specifically, the…

Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…