2 papers
cs.RO2025
TreeIRL: Safe Urban Driving with Tree Search and Inverse Reinforcement Learning
Momchil S. Tomov, Sang Uk Lee, Hansford Hendrago +14
We present TreeIRL, a novel planner for autonomous driving that combines Monte Carlo tree search (MCTS) and inverse reinforcement learning (IRL) to achieve state-of-the-art perform…
cs.RO2020
Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments
Bruno Brito, Boaz Floor, Laura Ferranti +1
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimiza…