Bayesian Nonparametric Feature and Policy Learning for Decision-Making

Learning from demonstrations has gained increasing interest in the recent past, enabling an agent to learn how to make decisions by observing an experienced teacher. While many approaches have been proposed to solve this problem, there is only little work that focuses on reasoning about the observed behavior. We assume that, in many practical problems, an agent makes its decision based on latent features, indicating a certain action. Therefore, we propose a generative model for the states and actions. Inference reveals the number of features, the features, and the policies, allowing us to learn and to analyze the underlying structure of the observed behavior. Further, our approach enables prediction of actions for new states. Simulations are used to assess the performance of the algorithm based upon this model. Moreover, the problem of learning a driver's behavior is investigated, demonstrating the performance of the proposed model in a real-world scenario

Integration of Reinforcement Learning Based Behavior Planning With Sampling Based Motion Planning for Automated Driving

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm to real vehicles. In this work, we propose a method to employ a trained deep reinforcement learning policy for dedicated high-level behavior planning. By populating an abstract objective interface, established motion planning algorithms can be leveraged, which derive smooth and drivable trajectories. Given the current environment model, we propose to use a built-in simulator to predict the traffic scene for a given horizon into the future. The behavior of automated vehicles in mixed traffic is determined by querying the learned policy. To the best of our knowledge, this work is the first to apply deep reinforcement learning in this manner, and as such lacks a state-of-the-art benchmark. Thus, we validate the proposed approach by comparing an idealistic single-shot plan with cyclic replanning through the learned policy. Experiments with a real testing vehicle on proving grounds demonstrate the potential of our approach to shrink the simulation to real world gap of deep reinforcement learning based planning approaches. Additional simulative analyses reveal that more complex multi-agent maneuvers can be managed by employing the cycling replanning approach.Comment: 8 pages, 10 figures, to be published in 34th IEEE Intelligent Vehicles Symposium (IV