在强化学习模型中,从自动驾驶汽车的互动中吸收人类反
Richard Fox1, Elliot A Ludvig1
1University of Warwick, Coventry, CV4 7AL UK.
概括
自动驾驶汽车 (AV) 可以通过结合行人反来改进. 根据人类判断调整AV行为,可以提高行人安全性和可预测性.
科学领域:
- 人与计算机的互动.
- 机器人技术 机器人技术 机器人技术
- 行为科学是一种行为科学.
背景情况:
- 自动驾驶汽车 (AV) 和行人之间的互动在现实世界中面临着重大挑战.
- 当前的AV算法往往没有充分考虑人类行人偏好和安全感知.
- 开发方法来使AV行为与人类期望保持一致,对于广泛采用至关重要.
研究的目的:
- 开发一种方法来直接引出和量化行人喜欢的AV行为.
- 创建一个反循环,以适应基于人类判断的AV算法.
- 通过以人为中心的设计,提高自动驾驶汽车的性能和安全.
主要方法:
- 在模拟的行人交叉环境中使用深度Q网络 (DQN).
- 通过使用定量人类行为反,调整了DQN的奖励结构.
- 采用计算强化学习 (RL) 和行为科学技术来进行代奖励塑造.
- 收集了124名参与者在受控环境中判断AV行为的数据.
主要成果:
- 在使用自适应奖励结构评估AV行为方面,初步表现出强烈的改善.
- 确定AV运动的可预测性是影响人类积极判断的关键因素.
- 代反循环有效地改进了基于人类明确和隐含偏好的AV行为.
结论:
- 行人判断为增强AV行为提供了有价值的数据.
- 优先考虑可预测的AV移动对于改善人-AV互动至关重要.
- 该方法为开发更安全,更可接受的自动驾驶汽车提供了可扩展的方法.
相关概念视频
Feedback control systems
288
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
288
Controller Configurations
85
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
85
PD Controller: Design
193
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
193
Effects of feedback
520
Feedback in control systems plays a critical role in shaping various operational parameters, extending beyond simple error reduction to influence stability, bandwidth, gain, impedance, and sensitivity. Understanding these effects requires examining a basic feedback system characterized by defined input, output, error, and feedback signals.
Feedback significantly modifies the gain of a control system. The gain of a system without feedback is altered by a factor of one plus GH, where G represents...
Feedback significantly modifies the gain of a control system. The gain of a system without feedback is altered by a factor of one plus GH, where G represents...
520
Observational Learning
136
Albert Bandura's observational learning, also known as imitation or modeling, occurs when a person observes and imitates another's behavior. It is a quicker process than operant conditioning. A well-known example is the Bobo doll study, where children who saw an adult acting aggressively towards the doll were more likely to act aggressively when left alone, compared to those who observed a nonaggressive adult. Many psychologists view observational learning as a form of latent learning...
136
Steps in the Modeling Process
184
Albert Bandura's theory of observational learning identifies four critical processes: attention, retention, motor reproduction, and reinforcement or motivation.
Attention is the first necessary component for observational learning. It involves focusing on what the model is doing and saying. For example, if you decide to take a drawing class to enhance your skills, you need to pay close attention to the instructor's words and hand movements. The characteristics of the model significantly...
Attention is the first necessary component for observational learning. It involves focusing on what the model is doing and saying. For example, if you decide to take a drawing class to enhance your skills, you need to pay close attention to the instructor's words and hand movements. The characteristics of the model significantly...
184


