A1695
Title: Reinforcementlearning in transportation
Authors: Ostap Okhrin - Technische Universitaet Dresden (Germany) [presenting]
Abstract: Reinforcement learning (RL) has emerged as a powerful method for solving complex control tasks across various domains, from autonomous driving to maritime navigation. Research in RL, particularly in value-based algorithms, addresses critical issues such as overestimation bias, proposing innovative solutions like the T-Estimator (TE) and K-Estimator (KE) for bias control and algorithmic robustness. These advancements are validated through modifications to Q-Learning and the Bootstrapped Deep Q-Network (BDQN), demonstrating superior performance and convergence. A spatial-temporal recurrent neural network architecture has been developed for autonomous ships, enhancing robustness in partial observability and compliance with maritime traffic rules. A modular framework for autonomous surface vehicles on inland waterways has been created, utilizing DRL agents for path planning and following, which significantly outperforms traditional control methods. Work on dynamic obstacle avoidance environments for mobile robots and drones emphasizes the importance of controlled training difficulty for better generalization and robustness. This approach has been successfully applied across different platforms, reducing the simulation-to-reality (Sim2Real) gap and improving performance in real-world scenarios. Through these contributions, the practical application and reliability of reinforcement learning in diverse and dynamic environments are advanced.
