人在回路的深度强化学习算法及其在自动驾驶智能决策中的应用.pdfVIP

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人在回路的深度强化学习算法及其在自动驾驶智能决策中的应用.pdf

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Engineering 21 (2023) 75–91 Contents lists available at ScienceDirect Engineering journal homepage: /locate/eng Research Artiﬁcial Intelligence and Autonomous Driving—Article Toward Human-in-the-Loop AI: Enhancing Deep Reinforcement Learning via Real-Time Human Guidance for Autonomous Driving Jingda Wu, Zhiyu Huang, Zhongxu Hu, Chen Lv ⇑ School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore a r t i c l e i n f o a b s t r a c t Article history: Due to its limited intelligence and abilities, machine learning is currently unable to handle various Received 9 October 2021 situations thus cannot completely replace humans in real-world applications. Because humans exhibit Revised 4 April 2022 robustness and adaptability in complex scenarios, it is crucial to introduce humans into the training loop Accepted 10 May 2022 of artiﬁcial intelligence (AI), leveraging human intelligence to further advance machine learning algo- Available online 20 July 2022 rithms. In this study, a real-time human-guidance-based (Hug)-deep reinforcement learning (DRL) method is developed for policy training in an end-to-end autonomous driving case. With our newly Keywords: designed mechanism for control transfer between humans and automation, humans are able to in