Frontiers in Neurorobotics (Mar 2024)
Deep reinforcement learning navigation via decision transformer in autonomous driving
Abstract
In real-world scenarios, making navigation decisions for autonomous driving involves a sequential set of steps. These judgments are made based on partial observations of the environment, while the underlying model of the environment remains unknown. A prevalent method for resolving such issues is reinforcement learning, in which the agent acquires knowledge through a succession of rewards in addition to fragmentary and noisy observations. This study introduces an algorithm named deep reinforcement learning navigation via decision transformer (DRLNDT) to address the challenge of enhancing the decision-making capabilities of autonomous vehicles operating in partially observable urban environments. The DRLNDT framework is built around the Soft Actor-Critic (SAC) algorithm. DRLNDT utilizes Transformer neural networks to effectively model the temporal dependencies in observations and actions. This approach aids in mitigating judgment errors that may arise due to sensor noise or occlusion within a given state. The process of extracting latent vectors from high-quality images involves the utilization of a variational autoencoder (VAE). This technique effectively reduces the dimensionality of the state space, resulting in enhanced training efficiency. The multimodal state space consists of vector states, including velocity and position, which the vehicle's intrinsic sensors can readily obtain. Additionally, latent vectors derived from high-quality images are incorporated to facilitate the Agent's assessment of the present trajectory. Experiments demonstrate that DRLNDT may achieve a superior optimal policy without prior knowledge of the environment, detailed maps, or routing assistance, surpassing the baseline technique and other policy methods that lack historical data.
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