Interpretable performance analysis towards offline reinforcement learning: A dataset perspective

Offline reinforcement learning (RL) has increasingly become the focus of the artificial intelligent research due to its wide real-world applications where the collection of data may be difficult, time-consuming, or costly. In this paper, we first propose a two-fold taxonomy for existing offline RL algorithms from the perspective of exploration and exploitation tendency. Secondly, we derive the explicit expression of the upper bound of extrapolation error and explore the correlation between the performance of different types of algorithms and the distribution of actions under states. Specifically, we relax the strict assumption on the sufficiently large amount of state-action tuples. Accordingly, we provably explain why batch constrained Q-learning (BCQ) performs better than other existing techniques. Thirdly, after identifying the weakness of BCQ on dataset of low mean episode returns, we propose a modified variant based on top return selection mechanism, which is proved to be able to gain state-of-the-art performance on various datasets. Lastly, we create a benchmark platform on the Atari domain, entitled RL easy go (RLEG), at an estimated cost of more than 0.3 million dollars. We make it open-source for fair and comprehensive competitions between offline RL algorithms with complete datasets and checkpoints being provided.

A Data Driven Approach for Motion Planning of Autonomous Driving Under Complex Scenario

To guarantee the safe and efficient motion planning of autonomous driving under dynamic traffic environment, the autonomous vehicle should be equipped with not only the optimal but also a long term efficient policy to deal with complex scenarios. The first challenge is that to acquire the optimal planning trajectory means to sacrifice the planning efficiency. The second challenge is that most search based planning method cannot find the desired trajectory in extreme scenario. In this paper, we propose a data driven approach for motion planning to solve the above challenges. We transform the lane change mission into Mixed Integer Quadratic Problem with logical constraints, allowing the planning module to provide feasible, safe and comfortable actions in more complex scenario. Furthermore, we propose a hierarchical learning structure to guarantee online, fast and more generalized motion planning. Our approach's performance is demonstrated in the simulated lane change scenario and compared with related planning method.