A hierarchical RL agent with a goal-conditioned collision prediction module achieves 94.7% success and 3.3% collisions in SMARTS intersection tasks, outperforming flat RL baselines.
End to end learning for self-driving cars,
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Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersections
A hierarchical RL agent with a goal-conditioned collision prediction module achieves 94.7% success and 3.3% collisions in SMARTS intersection tasks, outperforming flat RL baselines.