#weekend_read
Paper-Title: Safe Reinforcement Learning with Scene Decomposition for Navigating Complex Urban Environments
Link to the paper: https://arxiv.org/pdf/1904.11483.pdf
#Stanford #HRI
TL;DR: [1] They presented a decision-making framework for autonomously navigating urban intersections.
[2] Secondly, they introduced a learned belief updater that uses an ensemble of RNNs to estimate the location of vehicles behind obstacles and is robust to perception errors.
[3] Further they improved upon pure reinforcement learning methods by using a model checker to enforce safety guarantees.
[4] Finally, through a scene decomposition method they demonstrated how to efficiently scale the algorithm to scenarios with multiple cars and pedestrians.
Paper-Title: Safe Reinforcement Learning with Scene Decomposition for Navigating Complex Urban Environments
Link to the paper: https://arxiv.org/pdf/1904.11483.pdf
#Stanford #HRI
TL;DR: [1] They presented a decision-making framework for autonomously navigating urban intersections.
[2] Secondly, they introduced a learned belief updater that uses an ensemble of RNNs to estimate the location of vehicles behind obstacles and is robust to perception errors.
[3] Further they improved upon pure reinforcement learning methods by using a model checker to enforce safety guarantees.
[4] Finally, through a scene decomposition method they demonstrated how to efficiently scale the algorithm to scenarios with multiple cars and pedestrians.