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Deep Distributional Reinforcement Learning Based High-Level Driving Policy Determination

Authors
Min, KyushikKim, HayoungHuh, Kunsoo
Issue Date
Sep-2019
Publisher
Institute of Electrical and Electronics Engineers Inc.
Keywords
Distributional reinforcement learning; highway driving; policy determination
Citation
IEEE Transactions on Intelligent Vehicles, v.4, no.3, pp.416 - 424
Indexed
SCIE
SCOPUS
Journal Title
IEEE Transactions on Intelligent Vehicles
Volume
4
Number
3
Start Page
416
End Page
424
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/4533
DOI
10.1109/TIV.2019.2919467
ISSN
2379-8858
Abstract
Even though some of the driver assistant systems have been commercialized to provide safety and convenience to the driver, they can be applied for autonomous driving in limited situations such as highways. In this paper, we propose a supervisor agent that can enhance the driver assistant systems by using deep distributional reinforcement learning. The supervisor agent is trained using end-to-end approach that directly maps both a camera image and LIDAR data into action plan. Because the well-trained network of deep reinforcement learning can lead to unexpected actions, collision avoidance function is added to prevent dangerous situations. In addition, the highway driving case is a stochastic environment with inherent randomness and, thus, its training is performed through the distributional reinforcement learning algorithm, which is specialized for stochastic environment. The optimal action for autonomous driving is selected through the return value distribution. Finally, the proposed algorithm is verified through a highway driving simulator, which is implemented by the Unity ML-agents.
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