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Navigation In Urban Environments Amongst Pedestrians Using Multi-Objective Deep Reinforcement Learning
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In: ITSC 2021 - 24th IEEE International Conference on Intelligent Transportation Systems ; https://hal.inria.fr/hal-03372856 ; ITSC 2021 - 24th IEEE International Conference on Intelligent Transportation Systems, Sep 2021, Indianapolis, United States. pp.1-7 (2021)
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Abstract:
International audience ; Urban autonomous driving in the presence of pedestrians as vulnerable road users is still a challenging and less examined research problem. This work formulates navigation in urban environments as a multi objective reinforcement learning problem. A deep learning variant of thresholded lexicographic Q-learning is presented for autonomous navigation amongst pedestrians. The multi objective DQN agent is trained on a custom urban environment developed in CARLA simulator. The proposed method is evaluated by comparing it with a single objective DQN variant on known and unknown environments. Evaluation results show that the proposed method outperforms the single objective DQN variant with respect to all aspects.
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Keyword:
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]; [STAT.ML]Statistics [stat]/Machine Learning [stat.ML]
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URL: https://hal.inria.fr/hal-03372856 https://hal.inria.fr/hal-03372856/file/ITSC2021.pdf https://hal.inria.fr/hal-03372856/document
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Navigation In Urban Environments Amongst Pedestrians Using Multi-Objective Deep Reinforcement Learning ...
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The “FAME” Interactive Space
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In: 2nd Joint Workshop on Multimodal Interaction and Related Machine Learning Algorithms ; https://hal.inria.fr/inria-00326525 ; 2nd Joint Workshop on Multimodal Interaction and Related Machine Learning Algorithms, Feb 2005, Edinburgh, United Kingdom. 4 p (2005)
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Experiments on the Construction of a Phonetically Balanced Corpus from the Web
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In: Conference on Intelligent Text Processing and Computational Linguistics CICLing-2004 ; https://hal.inria.fr/inria-00326519 ; Conference on Intelligent Text Processing and Computational Linguistics CICLing-2004, Feb 2004, Seoul, South Korea. 4 p (2004)
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A Corpus Balancing Method for Language Model Construction
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In: Fourth International Conference on Intelligent Text Processing and Computational Linguistics (CICLing-2003) ; https://hal.inria.fr/inria-00326515 ; Fourth International Conference on Intelligent Text Processing and Computational Linguistics (CICLing-2003), Feb 2003, Mexico City, Mexico. 9 p (2003)
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A Multi-Perspective evaluation of the NESPOLE! Speech-to-Speech Translation System
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In: ACL'02 workshop on Speech-to-Speech Translation: Algorithms and Systems ; https://hal.inria.fr/inria-00326403 ; ACL'02 workshop on Speech-to-Speech Translation: Algorithms and Systems, ACL, Jun 2002, Philadelphia - Pennsylvania, United States. 9 p (2002)
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Comparación léxica de corpus para generación de modelos de lenguaje
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In: IBERAMIA workshop on Multilingual Information Access and Natural Language Processing ; https://hal.inria.fr/inria-00326402 ; IBERAMIA workshop on Multilingual Information Access and Natural Language Processing, Nov 2002, Sevilla, España. 6 p (2002)
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Enhancing the Usability and Performance of Nespole! - a Real-World Speech-to-Speech Translation System
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In: Human Language Technologies 2002 ; https://hal.inria.fr/inria-00326412 ; Human Language Technologies 2002, Mar 2002, San Diego - California, United States. 6 p (2002)
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Le Web : une source d'information pour l'intégration de multi-termes dans un processus de Recherche d'Information
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In: Journées Francophones d'Accès Intelligent aux Documents Multimédias sur l'Internet (MediaNet 2002) ; https://hal.inria.fr/inria-00326404 ; Journées Francophones d'Accès Intelligent aux Documents Multimédias sur l'Internet (MediaNet 2002), Jun 2002, Sousse, Tunisia. pp. 257-268 (2002)
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Web as Huge Information Source for Noun Phrases Integration in the Information Retrieval Process
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In: International Conference on Information and Knowledge Engineering (IKE'02) ; https://hal.inria.fr/inria-00326405 ; International Conference on Information and Knowledge Engineering (IKE'02), Jun 2002, Las Vegas - Nevada, United States. pp. 72-77 (2002)
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From generic to task-oriented speech recognition : French experience in the NESPOLE! European project
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In: ITR-Workshop on Adaptation Methods For Speech Recognition ; https://hal.inria.fr/inria-00326171 ; ITR-Workshop on Adaptation Methods For Speech Recognition, Aug 2001, Nice - Sophia Antipolis, France. pp. 179-182 (2001)
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Speech Translation for French in the NESPOLE! European Project
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In: Eurospeech'01 ; https://hal.inria.fr/inria-00326168 ; Eurospeech'01, Sep 2001, AAlborg, Germany. pp. 1291-1294 (2001)
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INTERNET EVOLUTION AND PROGRESS IN FULL AUTOMATIC FRENCH LANGUAGE MODELLING
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In: IEEE Workshop ASRU'01 (Automatic Speech Recognition and Understanding) ; https://hal.inria.fr/inria-00326163 ; IEEE Workshop ASRU'01 (Automatic Speech Recognition and Understanding), IEEE, Dec 2001, Madonna di Campiglio, Italy. pp.CD-ROM (2001)
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A NEW METHODOLOGY FOR SPEECH CORPORA DEFINITION FROM INTERNET DOCUMENTS
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In: LREC'2000 (Language Resources & Evaluation international Conference) ; https://hal.inria.fr/inria-00326150 ; LREC'2000 (Language Resources & Evaluation international Conference), Jun 2000, Athens, Greece. pp. 423-426 (2000)
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