Embed Trajectory Imitation in Reinforcement Learning: A Hybrid Method for Autonomous Vehicle Planning
Wang, Yuxiao1,2; Dai, Xingyuan1; Wang, Kara1; Ali, Hub1,2; Zhu, Fenghua1
2023-12
Conference Name2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence (DTPI)
Source Publication/
Volume/
Issue/
Pages/
Conference Date2023-11
Conference PlaceOrlando, FL, USA
Author of SourceFei-Yue Wang
Publication PlaceOrlando, FL, USA
PublisherIEEE
Abstract

Learning-based autonomous vehicle trajectory planning methods have shown excellent performance in a variety of complex traffic scenarios. However, the existing imitation learning (IL) and reinforcement learning (RL) algorithms still have their limitations, such as poor safety and generalizability for IL, and low data efficiency for RL. To leverage their respective advantages and mitigate the limitations, this paper proposes a novel hybrid RL algorithm for autonomous vehicle planning, where IL is embedded in it to guide its exploration with expert knowledge. Different from existing approaches, we use multi-step trajectory prediction instead of behavior cloning as the IL method integrated with online RL. Through such design, we make a further step in the research about how expert demonstration can be helpful to RL. Moreover, we conduct parallel training and testing of the algorithm based on real-world driving data. Experimental results demonstrate that our proposed approach outperforms standalone IL and RL methods, and performs better than RL methods enhanced by behavior cloning.

KeywordImitation Learning Trajectory Planning Deep Reinforcement Learning Autonomous Driving
Indexed ByEI
Language英语
Sub direction classification人工智能+交通
planning direction of the national heavy laboratory人机混合智能
Paper associated data
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57357
Collection多模态人工智能系统全国重点实验室_平行智能技术与系统团队
Corresponding AuthorZhu, Fenghua
Affiliation1.State key Laboratory of Multimodal Artificial Intelligence Systems, Institute of automation, Chinese Academy of Sciences
2.School of Artificial Intelligence, University of Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Wang, Yuxiao,Dai, Xingyuan,Wang, Kara,et al. Embed Trajectory Imitation in Reinforcement Learning: A Hybrid Method for Autonomous Vehicle Planning[C]//Fei-Yue Wang. Orlando, FL, USA:IEEE,2023:/.
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