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Developing Driving Strategies Efficiently: A Skill-Based Hierarchical Reinforcement Learning Approach by Gurses, Yigit; Buyukdemirci, Kaan; Yildiz, Yildiray is a scholarly article available to read on EtoBox.

What is Developing Driving Strategies Efficiently: A Skill-Based Hierarchical Reinforcement Learning Approach about?

Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver strategies. These strategies can be used as inspirations for developing autonomous driving algorithms or to create high-fidelity simulators. Reinforcement learning is a common tool to model driver policies, but conventional training of these models can be computationally expensive and time-consuming. To address this issue, in this paper, we propose ``skill-based" hierarchical driving strategies, where motion primitives, i.e. skills, are designed and used as high-level actions. This reduces the training time for applications that require multiple models with varying behavior. Simulation results in a merging scenario demonstrate that the proposed approach yields driver models that achieve higher performance with less training compared to baseline reinforcement learning methods.

Author

Gurses, Yigit; Buyukdemirci, Kaan; Yildiz, Yildiray

Published

2023

Language

EN