A method of providing a reinforcement learning, RL, agent for decision-making to be used in controlling an autonomous vehicle. The method includes: a plurality of training sessions, in which the RL agent interacts with a first environment including the autonomous vehicle, each training session having a different initial value and yielding a state-action value function Qk(s, a) dependent on state and action; an uncertainty evaluation on the basis of a variability measure for the plurality of state-action value functions evaluated for one or more state-action pairs corresponding to possible decisions by the trained RL agent; additional training, in which the RL agent interacts with a second environment including the autonomous vehicle, wherein the second environment differs from the first environment by an increased exposure to a subset of state-action pairs for which the variability measure indicates a relatively higher uncertainty.
UNCERTAINTY-DIRECTED TRAINING OF A REINFORCEMENT LEARNING AGENT FOR TACTICAL DECISION-MAKING
2023-08-03
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
TACTICAL DECISION-MAKING IN AUTONOMOUS DRIVING BY REINFORCEMENT LEARNING WITH UNCERTAINTY ESTIMATION
British Library Conference Proceedings | 2020
|British Library Conference Proceedings | 2000
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