scholarly journals A Meta-Modeling Approach for Autonomous Driving Scenario Based on STTD

2021 ◽  
Vol 11 (3) ◽  
pp. 315-333
Author(s):  
Menghan Zhang ◽  
◽  
Dehui Du ◽  
Mingzhuo Zhang ◽  
Lei Zhang ◽  
...  
Author(s):  
Henrique de Carvalho Pinheiro ◽  
Diego Cruz Stanke ◽  
Alessandro Ferraris ◽  
Massimiliana Carello ◽  
Giovanni Gabiati ◽  
...  

Author(s):  
Fangjian Li ◽  
John R Wagner ◽  
Yue Wang

Abstract Inverse reinforcement learning (IRL) has been successfully applied in many robotics and autonomous driving studies without the need for hand-tuning a reward function. However, it suffers from safety issues. Compared to the reinforcement learning (RL) algorithms, IRL is even more vulnerable to unsafe situations as it can only infer the importance of safety based on expert demonstrations. In this paper, we propose a safety-aware adversarial inverse reinforcement learning algorithm (S-AIRL). First, the control barrier function (CBF) is used to guide the training of a safety critic, which leverages the knowledge of system dynamics in the sampling process without training an additional guiding policy. The trained safety critic is then integrated into the discriminator to help discern the generated data and expert demonstrations from the standpoint of safety. Finally, to further improve the safety awareness, a regulator is introduced in the loss function of the discriminator training to prevent the recovered reward function from assigning high rewards to the risky behaviors. We tested our S-AIRL in the highway autonomous driving scenario. Comparing to the original AIRL algorithm, with the same level of imitation learning (IL) performance, the proposed S-AIRL can reduce the collision rate by 32.6%.


2015 ◽  
Vol 18 (3) ◽  
pp. 446-465 ◽  
Author(s):  
Golnazalsadat Mirfenderesgi ◽  
S. Jamshid Mousavi

Incorporating river basin simulation models in heuristic optimization algorithms can help modelers address complex, basin-scale water resource problems. We have developed a hybrid optimization-simulation model by linking a stretching particle swarm optimization (SPSO) algorithm and the MODSIM river basin decision support system (DSS), and have used the SPSO-MODSIM model to optimize water allocation at basin scale. Due to high computational cost of the SPSO-MODSIM model, we have, subsequently, used four meta-model types of artificial neural networks (ANN), support vector machines (SVM), kriging and polynomial response functions, replacing the MODSIM DSS, in an adaptively learning meta-modeling approach. The performances of the meta-models are first compared in two Ackley and Dejong benchmark functions optimization problems, and the meta-models are then evaluated by solving the Atrak river basin water allocation optimization problem in Iran. The results demonstrate that independent of the meta-model type, the sequentially space-filling meta-modeling approach can improve the performance of meta-models in the course of optimization by adaptively locating the promising regions of the search space where more samples need to be generated. However, the ANN and SVM meta-models perform better than others in saving the number of costly, original objective function evaluations.


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