Visually-guided motion planning for autonomous driving from interactive demonstrations

The successful integration of autonomous robots in real-world environments strongly depends on their ability to reason from context and take socially acceptable actions. Current autonomous navigation systems mainly rely on geometric information and hard-coded rules to induce safe and socially compliant behaviors. Yet, in unstructured urban...

Fine-tuning deep RL with gradient-free optimization

Deep reinforcement learning makes it possible to train control policies that map high-dimensional observations to actions. These methods typically use gradient-based optimization techniques to enable relatively efficient learning, but are notoriously sensitive to hyperparameter choices and do not have good convergence properties. Gradient...

Experience selection in deep reinforcement learning for control

Experience replay is a technique that allows off-policy reinforcement-learning methods to reuse past experiences. The stability and speed of convergence of reinforcement learning, as well as the eventual performance of the learned policy, are strongly dependent on the experiences being replayed. Which experiences are replayed depends on two...