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cs.RO2023
Learning the References of Online Model Predictive Control for Urban Self-Driving
Yubin Wang, Zengqi Peng, Yusen Xie +3
In this work, we propose a novel learning-based model predictive control (MPC) framework for motion planning and control of urban self-driving. In this framework, instantaneous ref…
cs.RO2023★ 1 cited
Chance-Aware Lane Change with High-Level Model Predictive Control Through Curriculum Reinforcement Learning
Yubin Wang, Yulin Li, Zengqi Peng +2
Lane change in dense traffic typically requires the recognition of an appropriate opportunity for maneuvers, which remains a challenging problem in self-driving. In this work, we p…