Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Increasing the Efficiency of Policy Learning for Autonomous Vehicles by
  Multi-Task Representation Learning   Driving in a dynamic, multi-agent, and complex urban environment is a
difficult task requiring a complex decision-making policy. The learning of such
a policy requires a state representation that can encode the entire
environment. Mid-level representations that encode a vehicle's environment as
images have become a popular choice. Still, they are quite high-dimensional,
limiting their use in data-hungry approaches such as reinforcement learning. In
this article, we propose to learn a low-dimensional and rich latent
representation of the environment by leveraging the knowledge of relevant
semantic factors. To do this, we train an encoder-decoder deep neural network
to predict multiple application-relevant factors such as the trajectories of
other agents and the ego car. Furthermore, we propose a hazard signal based on
other vehicles' future trajectories and the planned route which is used in
conjunction with the learned latent representation as input to a down-stream
policy. We demonstrate that using the multi-head encoder-decoder neural network
results in a more informative representation than a standard single-head model.
In particular, the proposed representation learning and the hazard signal help
reinforcement learning to learn faster, with increased performance and less
data than baseline methods.

3
The categories of this paper are: physics
29
The categories of this paper are: funct-an
12
The categories of this paper are: nucl-th
28
The categories of this paper are: alg-geom
24
The categories of this paper are: dg-ga
2
The categories of this paper are: math
30
The categories of this paper are: q-alg
23
The categories of this paper are: solv-int
5
The categories of this paper are: gr-qc
19
The categories of this paper are: eess
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The categories of this paper are: q-fin
27
The categories of this paper are: comp-gas
25
The categories of this paper are: patt-sol
20
The categories of this paper are: acc-phys
35
The categories of this paper are: mtrl-th
4
The categories of this paper are: cond-mat