Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Guided Policy Search Model-based Reinforcement Learning for Urban
  Autonomous Driving   In this paper, we continue our prior work on using imitation learning (IL)
and model free reinforcement learning (RL) to learn driving policies for
autonomous driving in urban scenarios, by introducing a model based RL method
to drive the autonomous vehicle in the Carla urban driving simulator. Although
IL and model free RL methods have been proved to be capable of solving lots of
challenging tasks, including playing video games, robots, and, in our prior
work, urban driving, the low sample efficiency of such methods greatly limits
their applications on actual autonomous driving. In this work, we developed a
model based RL algorithm of guided policy search (GPS) for urban driving tasks.
The algorithm iteratively learns a parameterized dynamic model to approximate
the complex and interactive driving task, and optimizes the driving policy
under the nonlinear approximate dynamic model. As a model based RL approach,
when applied in urban autonomous driving, the GPS has the advantages of higher
sample efficiency, better interpretability, and greater stability. We provide
extensive experiments validating the effectiveness of the proposed method to
learn robust driving policy for urban driving in Carla. We also compare the
proposed method with other policy search and model free RL baselines, showing
100x better sample efficiency of the GPS based RL method, and also that the GPS
based method can learn policies for harder tasks that the baseline methods can
hardly learn.

9
The categories of this paper are: nlin
8
The categories of this paper are: hep-ex
7
The categories of this paper are: hep-th
6
The categories of this paper are: astro-ph
34
The categories of this paper are: chem-ph
14
The categories of this paper are: math-ph
22
The categories of this paper are: chao-dyn
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin
0
The categories of this paper are: hep-ph
24
The categories of this paper are: dg-ga
13
The categories of this paper are: quant-ph
36
The categories of this paper are: cmp-lg
21
The categories of this paper are: adap-org
4
The categories of this paper are: cond-mat
12
The categories of this paper are: nucl-th