Amortized Q-learning with Model-based Action Proposals for Autonomous Driving on Highways
Branka Mirchevska Maria Hügle Gabriel Kalweit Moritz Werling Joschka Boedecker Branka Mirchevska Maria Hügle Gabriel Kalweit Moritz Werling Joschka Boedecker
Well-established optimization-based methods can guarantee an optimal trajectory for a short optimization horizon, typically no longer than a few seconds. As a result, choosing the optimal trajectory for this short horizon may still result in a sub-optimal long-term solution. At the same time, the resulting short-term trajectories allow for effective, comfortable and provable safe maneuvers in a dy...