Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning
通过耦合模型预测控制和深度强化学习实现多智能体场景下的非保守自动驾驶
机构 * TU Delft, Faculty of Civil Engineering and Geosciences, Department of Transport and Planning(代尔夫特理工大学,土木工程与地质科学学院,交通与规划系) ; NVIDIA
专题命中 安全评测 :safety(abstract);分类 cs.AI
AI总结 本文提出结合MPC与RL的框架,提升多智能体场景下的导航性能,实验表明MPC-RL在碰撞率和成功率上优于传统方法,且在零样本迁移中表现更优,展示了MPC对跨场景鲁棒性的贡献。
Comments This work has been submitted to the IEEE for possible publication