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.
A methodology based on deep reinforcement learning to autonomous driving with double Q-learning,
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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.