An improved PPO for highway driving uses a hybrid risk field, attention modules, a balanced reward, and a rule-based safety filter to reduce collisions and speed up training in simulation.
Continuous deep Q- learning with model-based acceleration,
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Attention and Risk-Aware Decision Framework for Safe Autonomous Driving
An improved PPO for highway driving uses a hybrid risk field, attention modules, a balanced reward, and a rule-based safety filter to reduce collisions and speed up training in simulation.