Automated Speed and Lane Change Decision Making using Deep Reinforcement Learning

This paper introduces a method, based on deep reinforcement learning, for automatically generating a general purpose decision making function. A Deep Q-Network agent was trained in a simulated environment to handle speed and lane change decisions for a truck-trailer combination. In a highway driving case, it is shown that the method produced an agent that matched or surpassed the performance of a commonly used reference model. To demonstrate the generality of the method, the exact same algorithm was also tested by training it for an overtaking case on a road with oncoming traffic. Furthermore, a novel way of applying a convolutional neural network to high level input that represents interchangeable objects is also introduced

A review of inverse reinforcement learning theory and recent advances

A major challenge faced by machine learning community is the decision making problems under uncertainty. Reinforcement Learning (RL) techniques provide a powerful solution for it. An agent used by RL interacts with a dynamic environment and finds a policy through a reward function, without using target labels like Supervised Learning (SL). However, one fundamental assumption of existing RL algorithms is that reward function, the most succinct representation of the designer's intention, needs to be provided beforehand. In practice, the reward function can be very hard to specify and exhaustive to tune for large and complex problems, and this inspires the development of Inverse Reinforcement Learning (IRL), an extension of RL, which directly tackles this problem by learning the reward function through expert demonstrations. IRL introduces a new way of learning policies by deriving expert's intentions, in contrast to directly learning policies, which can be redundant and have poor generalization ability. In this paper, the original IRL algorithms and its close variants, as well as their recent advances are reviewed and compared