相关论文: MTA-RL: Robust Urban Driving via Multi-modal Trans…

Reinforcement Learning (RL) aims at learning an optimal behavior policy from its own experiments and not rule-based control methods. However, there is no RL algorithm yet capable of handling a task as difficult as urban driving. We present…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation,…

Reinforcement Learning (RL) has the potential to surpass human performance in driving without needing any expert supervision. Despite its promise, the state-of-the-art in sensorimotor self-driving is dominated by imitation learning methods…

In urban environments, the complex and uncertain intersection scenarios are challenging for autonomous driving. To ensure safety, it is crucial to develop an adaptive decision making system that can handle the interaction with other…

Urban traffic management demands systems that simultaneously predict future conditions, detect anomalies, and take safe corrective actions -- all while providing reliability guarantees. We present STREAM-RL, a unified framework that…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Urban Traffic Control (UTC) plays an essential role in Intelligent Transportation System (ITS) but remains difficult. Since model-based UTC methods may not accurately describe the complex nature of traffic dynamics in all situations,…

Autonomous driving systems face significant challenges in perceiving complex environments and making real-time decisions. Traditional modular approaches, while offering interpretability, suffer from error propagation and coordination…

Autonomous-driving research has recently embraced deep Reinforcement Learning (RL) as a promising framework for data-driven decision making, yet a clear picture of how these algorithms are currently employed, benchmarked and evaluated is…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, the progression of these impacts, as AVs are adopted, is not well…

Deep reinforcement learning (DRL) methods have demonstrated potential for autonomous navigation and obstacle avoidance of unmanned ground vehicles (UGVs) in crowded environments. Most existing approaches rely on single-frame observation and…

Given the wide adoption of multimodal sensors (e.g., camera, lidar, radar) by autonomous vehicles (AVs), deep analytics to fuse their outputs for a robust perception become imperative. However, existing fusion methods often make two…

Decision-making for urban autonomous driving is challenging due to the stochastic nature of interactive traffic participants and the complexity of road structures. Although reinforcement learning (RL)-based decision-making scheme is…

Model-based reinforcement learning (RL) is anticipated to exhibit higher sample efficiency compared to model-free RL by utilizing a virtual environment model. However, it is challenging to obtain sufficiently accurate representations of the…

In the domain of autonomous driving, the offline Reinforcement Learning~(RL) approaches exhibit notable efficacy in addressing sequential decision-making problems from offline datasets. However, maintaining safety in diverse safety-critical…

Mobility trajectories are essential for understanding urban dynamics and enhancing urban planning, yet access to such data is frequently hindered by privacy concerns. This research introduces a transformative framework for generating…