An adversarial car trained with a collision-based reward reliably decreases the reward of a PPO-trained ego vehicle in Highway-Env, and a robust PPO policy trained against it recovers performance.
Deep rein- forcement learning framework for autonomous driving,
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Adversarial Agent Behavior Learning in Autonomous Driving Using Deep Reinforcement Learning
An adversarial car trained with a collision-based reward reliably decreases the reward of a PPO-trained ego vehicle in Highway-Env, and a robust PPO policy trained against it recovers performance.