Tactical decision-making for autonomous driving: A reinforcement learning approach

The tactical decision-making task of an autonomous vehicle is challenging, due to the diversity of the environments the vehicle operates in, the uncertainty in the sensor information, and the complex interaction with other road users. This thesis introduces and compares three general approaches, based on reinforcement learning, to creating a tactical decision-making agent. The first method uses a genetic algorithm to automatically generate a rule based decision-making agent, whereas the second method is based on a Deep Q-Network agent. The third method combines the concepts of planning and learning, in the form of Monte Carlo tree search and deep reinforcement learning. The three approaches are applied to several highway driving cases in a simulated environment and outperform a commonly used baseline model by taking decisions that allow the vehicle to navigate 5% to 10% faster through dense traffic. However, the main advantage of the methods is their generality, which is indicated by applying them to conceptually different driving cases. Furthermore, this thesis introduces a novel way of applying a convolutional neural network architecture to a high level state description of interchangeable objects, which speeds up the learning process and eliminates all collisions in the test cases

Building Combined Classifiers

This chapter covers different approaches that may be taken when building an ensemble method, through studying specific examples of each approach from research conducted by the authors. A method called Negative Correlation Learning illustrates a decision level combination approach with individual classifiers trained co-operatively. The Model level combination paradigm is illustrated via a tree combination method. Finally, another variant of the decision level paradigm, with individuals trained independently instead of co-operatively, is discussed as applied to churn prediction in the telecommunications industry

Psychometrics in Practice at RCEC

A broad range of topics is dealt with in this volume: from combining the psychometric generalizability and item response theories to the ideas for an integrated formative use of data-driven decision making, assessment for learning and diagnostic testing. A number of chapters pay attention to computerized (adaptive) and classification testing. Other chapters treat the quality of testing in a general sense, but for topics like maintaining standards or the testing of writing ability, the quality of testing is dealt with more specifically.\ud All authors are connected to RCEC as researchers. They present one of their current research topics and provide some insight into the focus of RCEC. The selection of the topics and the editing intends that the book should be of special interest to educational researchers, psychometricians and practitioners in educational assessment

Combining Planning and Deep Reinforcement Learning in Tactical Decision Making for Autonomous Driving

Tactical decision making for autonomous driving is challenging due to the diversity of environments, the uncertainty in the sensor information, and the complex interaction with other road users. This paper introduces a general framework for tactical decision making, which combines the concepts of planning and learning, in the form of Monte Carlo tree search and deep reinforcement learning. The method is based on the AlphaGo Zero algorithm, which is extended to a domain with a continuous state space where self-play cannot be used. The framework is applied to two different highway driving cases in a simulated environment and it is shown to perform better than a commonly used baseline method. The strength of combining planning and learning is also illustrated by a comparison to using the Monte Carlo tree search or the neural network policy separately

Using decision analysis: connecting "classroom" and "field"

This paper reports on the findings of a small-scale research project investigating the views of social work students on the use of decision analysis. After giving the context of the research, the article reports on what was found when students, who had just completed a Decision Making and Risk module, were asked for their opinions on the component parts of decision analysis, its use as a practice tool and their attitudes to using it on placement. The research found that the respondents in general took a critical and supportive stance towards the use of decision analysis in social work and, with extra teaching and a positive approach from their practice assessor, would be happy to use decision analysis. When the same group of students completed a follow-up questionnaire on a placement recall day, half of them had thought about using decision analysis but only three had gone on to discuss this with their practice assessors. Some issues in relation to connecting 'classroom' and 'field' are identified and the paper concludes that a number of further steps would be necessary to realise the potential of decision analysis to help students be more systematic and analytical in their approach to decision makin

From Data Topology to a Modular Classifier

This article describes an approach to designing a distributed and modular neural classifier. This approach introduces a new hierarchical clustering that enables one to determine reliable regions in the representation space by exploiting supervised information. A multilayer perceptron is then associated with each of these detected clusters and charged with recognizing elements of the associated cluster while rejecting all others. The obtained global classifier is comprised of a set of cooperating neural networks and completed by a K-nearest neighbor classifier charged with treating elements rejected by all the neural networks. Experimental results for the handwritten digit recognition problem and comparison with neural and statistical nonmodular classifiers are given