Knowledge Commons of Institute of Automation,CAS
Embed Trajectory Imitation in Reinforcement Learning: A Hybrid Method for Autonomous Vehicle Planning | |
Wang, Yuxiao1,2![]() ![]() ![]() ![]() | |
2023-12 | |
会议名称 | 2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence (DTPI) |
会议录名称 | / |
卷号 | / |
期号 | / |
页码 | / |
会议日期 | 2023-11 |
会议地点 | Orlando, FL, USA |
会议录编者/会议主办者 | Fei-Yue Wang |
出版地 | Orlando, FL, USA |
出版者 | IEEE |
摘要 | 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. |
关键词 | Imitation Learning Trajectory Planning Deep Reinforcement Learning Autonomous Driving |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 人工智能+交通 |
国重实验室规划方向分类 | 人机混合智能 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57357 |
专题 | 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 |
通讯作者 | Zhu, Fenghua |
作者单位 | 1.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 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Embed_Trajectory_Imi(1410KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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