TY - CONF T1 - Reinforcement Learning for Autonomous Driving using CAT Vehicle Testbed T2 - CAT Vehicle Research Experience for Undergraduates Y1 - 2019 A1 - John Nguyen A1 - Hoang Huynh A1 - Eric Av A1 - Rahul Bhadani A1 - Tamal Bose KW - Autonomous Systems KW - Machine Learning AB -

We discuss a deep reinforcement learning implementation using the CAT Vehicle Testbed and discuss the merits of simulation-based deep reinforcement learning. After implementing a simple 3 layered neural network which learned using deep Q-learning, we found some challenges associated with ROS and Gazebo. In spite of these challenges, we demonstrate that our reinforcement learning architecture can teach a car to avoid obstacles. With these preliminary results, we discuss what new things we can do and how we can implement more advanced methods.

JF - CAT Vehicle Research Experience for Undergraduates PB - The University of Arizona CY - Tucson UR - http://csl.arizona.edu/content/reinforcement-learning-autonomous-driving-using-cat-vehicle-testbed ER -