漸進的エキスパート混合ネットワークによる自動運転の継続的適応
Continual Adaptation for Autonomous Driving with the Mixture of Progressive Experts Network
強化学習と教師あり学習を組み合わせた動的漸進的最適化フレームワークと、タスク特性に応じて複数のエキスパートモデルを選択的に活性化するMoPEネットワークを提案し、複雑な市街地環境で行動クローニングを最大7.8%上回る性能を達成した。
著者: Yixin Cui, Shuo Yang, Chi Wan, Xincheng Li, Jiaming Xing, Yuanjian Zhang, Yanjun Huang, Hong Chen
分類: cs.RO
原文アブストラクト
Learning-based autonomous driving requires continuous integration of diverse knowledge in complex traffic , yet existing methods exhibit significant limitations in adaptive capabilities. Addressing this gap demands autonomous driving systems that enable continual adaptation through dynamic adjustments to evolving environmental interactions. This underscores the necessity for enhanced continual learning capabilities to improve system adaptability. To address these challenges, the paper introduces a dynamic progressive optimization framework that facilitates adaptation to variations in dynamic environments, achieved by integrating reinforcement learning and supervised learning for data aggregation. Building on this framework, we propose the Mixture of Progressive Experts (MoPE) network. The proposed method selectively activates multiple expert models based on the distinct characteristics of each task and progressively refines the network architecture to facilitate adaptation to new tasks. Simulation results show that the MoPE model outperforms behavior cloning methods, achieving up to a 7.8% performance improvement in intricate urban road environments.
