Self-Improving Autonomous Vehicles via Real-World Reinforcement Learning

摘要

End-to-end autonomous driving systems have demonstrated advantages over traditional modular systems. Despite this progress, these end-to-end systems still struggle to be deployed in real-world driving environments, as they inevitably encounter undertrained scenarios in which autonomous vehicles may take unsafe actions. Reinforcement Learning (RL) provides a theoretical framework for addressing this challenge by enabling autonomous vehicles to self-improve: continuously collecting additional scenarios and learning from them. However, training autonomous vehicles with RL is not straightforward in the real world. Collecting real-world driving data involves costly interactions with the environment, and significant human intervention is required both to prevent autonomous vehicles from entering unsafe states and to reset them for subsequent episodes. In this paper, we introduce a novel real-world RL algorithm that allows autonomous vehicles to collect informative scenarios and learn from them with minimal human intervention. Our algorithm considers the learning progress of autonomous vehicles to identify informative scenarios and abort episodes before they enter unsafe states. To evaluate our algorithm, we introduce challenging urban driving tasks that require autonomous vehicles to reset themselves to initial states. The experimental results show that our real-world RL algorithm outperforms baselines with much less human intervention.