10,196 research outputs found
Automating Vehicles by Deep Reinforcement Learning using Task Separation with Hill Climbing
Within the context of autonomous driving a model-based reinforcement learning
algorithm is proposed for the design of neural network-parameterized
controllers. Classical model-based control methods, which include sampling- and
lattice-based algorithms and model predictive control, suffer from the
trade-off between model complexity and computational burden required for the
online solution of expensive optimization or search problems at every short
sampling time. To circumvent this trade-off, a 2-step procedure is motivated:
first learning of a controller during offline training based on an arbitrarily
complicated mathematical system model, before online fast feedforward
evaluation of the trained controller. The contribution of this paper is the
proposition of a simple gradient-free and model-based algorithm for deep
reinforcement learning using task separation with hill climbing (TSHC). In
particular, (i) simultaneous training on separate deterministic tasks with the
purpose of encoding many motion primitives in a neural network, and (ii) the
employment of maximally sparse rewards in combination with virtual velocity
constraints (VVCs) in setpoint proximity are advocated.Comment: 10 pages, 6 figures, 1 tabl
Dynamic Face Video Segmentation via Reinforcement Learning
For real-time semantic video segmentation, most recent works utilised a
dynamic framework with a key scheduler to make online key/non-key decisions.
Some works used a fixed key scheduling policy, while others proposed adaptive
key scheduling methods based on heuristic strategies, both of which may lead to
suboptimal global performance. To overcome this limitation, we model the online
key decision process in dynamic video segmentation as a deep reinforcement
learning problem and learn an efficient and effective scheduling policy from
expert information about decision history and from the process of maximising
global return. Moreover, we study the application of dynamic video segmentation
on face videos, a field that has not been investigated before. By evaluating on
the 300VW dataset, we show that the performance of our reinforcement key
scheduler outperforms that of various baselines in terms of both effective key
selections and running speed. Further results on the Cityscapes dataset
demonstrate that our proposed method can also generalise to other scenarios. To
the best of our knowledge, this is the first work to use reinforcement learning
for online key-frame decision in dynamic video segmentation, and also the first
work on its application on face videos.Comment: CVPR 2020. 300VW with segmentation labels is available at:
https://github.com/mapleandfire/300VW-Mas
Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Driving
Collaborative perception among multiple connected and autonomous vehicles can
greatly enhance perceptive capabilities by allowing vehicles to exchange
supplementary information via communications. Despite advances in previous
approaches, challenges still remain due to channel variations and data
heterogeneity among collaborative vehicles. To address these issues, we propose
ACC-DA, a channel-aware collaborative perception framework to dynamically
adjust the communication graph and minimize the average transmission delay
while mitigating the side effects from the data heterogeneity. Our novelties
lie in three aspects. We first design a transmission delay minimization method,
which can construct the communication graph and minimize the transmission delay
according to different channel information state. We then propose an adaptive
data reconstruction mechanism, which can dynamically adjust the rate-distortion
trade-off to enhance perception efficiency. Moreover, it minimizes the temporal
redundancy during data transmissions. Finally, we conceive a domain alignment
scheme to align the data distribution from different vehicles, which can
mitigate the domain gap between different vehicles and improve the performance
of the target task. Comprehensive experiments demonstrate the effectiveness of
our method in comparison to the existing state-of-the-art works.Comment: 6 pages, 6 figure
StereoFlowGAN: Co-training for Stereo and Flow with Unsupervised Domain Adaptation
We introduce a novel training strategy for stereo matching and optical flow
estimation that utilizes image-to-image translation between synthetic and real
image domains. Our approach enables the training of models that excel in real
image scenarios while relying solely on ground-truth information from synthetic
images. To facilitate task-agnostic domain adaptation and the training of
task-specific components, we introduce a bidirectional feature warping module
that handles both left-right and forward-backward directions. Experimental
results show competitive performance over previous domain translation-based
methods, which substantiate the efficacy of our proposed framework, effectively
leveraging the benefits of unsupervised domain adaptation, stereo matching, and
optical flow estimation.Comment: Accepted by BMVC 202
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