相关论文: Learning to Drive Safely with Hybrid Options

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…

The options framework is a popular approach for building temporally extended actions in reinforcement learning. In particular, the option-critic architecture provides general purpose policy gradient theorems for learning actions from…

Human conversation is inherently complex, often spanning many different topics/domains. This makes policy learning for dialogue systems very challenging. Standard flat reinforcement learning methods do not provide an efficient framework for…

With the implementation of reinforcement learning (RL) algorithms, current state-of-art autonomous vehicle technology have the potential to get closer to full automation. However, most of the applications have been limited to game domains…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…

Reinforcement learning has demonstrated significant potential in the field of autonomous driving. However, it suffers from defects such as training instability and unsafe action outputs when faced with autonomous racing environments…

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…

Batch reinforcement learning enables policy learning without direct interaction with the environment during training, relying exclusively on previously collected sets of interactions. This approach is, therefore, well-suited for high-risk…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Autonomous driving decision-making is a great challenge due to the complexity and uncertainty of the traffic environment. Combined with the rule-based constraints, a Deep Q-Network (DQN) based method is applied for autonomous driving lane…

Autonomous parallel-style on-ramp merging in human controlled traffic continues to be an existing issue for autonomous vehicle control. Existing non-learning based solutions for vehicle control rely on rules and optimization primarily.…

Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…

Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills in temporally extended tasks. In this paper, we study the…

Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…

The current thesis aims to explore the reinforcement learning field and build on existing methods to produce improved ones to tackle the problem of learning in high-dimensional and complex environments. It addresses such goals by…

Reinforcement learning has emerged as an important approach for autonomous driving. A reward function is used in reinforcement learning to establish the learned skill objectives and guide the agent toward the optimal policy. Since…

This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…

The transport capacity of a communication network can be characterized by the transition from a free-flow state to a congested state. Here, we propose a dynamic routing strategy in complex networks based on hierarchical bypass selections.…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…