USDC combines ensemble distributional RL with a high-order control barrier function and uncertainty-based switching to reduce collisions at unsignalized intersections while preserving traffic efficiency in simulation.
Safe reinforcement learning of lane change decision making with risk-fused constraint,
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Uncertainty-Aware Safety-Critical Decision and Control for Autonomous Vehicles at Unsignalized Intersections
USDC combines ensemble distributional RL with a high-order control barrier function and uncertainty-based switching to reduce collisions at unsignalized intersections while preserving traffic efficiency in simulation.