Uncertainty-aware model-based reinforcement learning: methodology and application in autonomous driving

• Main Authors: Wu, Jingda, Huang, Zhiyu, Lv, Chen
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2024
• Subjects: Engineering; Model-based reinforcement learning; Uncertainty awareness
• Online Access: https://hdl.handle.net/10356/178357
• Institution: Nanyang Technological University

To further improve learning efficiency and performance of reinforcement learning (RL), a novel uncertainty-aware model-based RL method is proposed and validated in autonomous driving scenarios in this paper. First, an action-conditioned ensemble model with the capability of uncertainty assessment is...