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Matthias König authoredMatthias König authored
Publications - Autonomous driving and Reinforcement Learning
Autonomous Driving
Perception pipline with classic path planning
AMZ Driverless: The Full Autonomous Racing System Visual cone detection: Mono and stereo camera. LIDAR cone detection. Cone detection with YOLO and Keypoint regression for 3d pose estimate.
Reinforcement Learning
Reinforcement Learning Approach for Formula Student Technion Driverless
CNN with VAE as state encoder. Best model SAC with continues actions space. Stacked 4 consecutive frames. Learned a model only for steering.
Deep Reinforcement Learning for Autonomous Driving DDPG Algorithm. TORCS Simulator. Simple features from the simulator. Reward: V_x*(angle)-V_y*sin(angle)-\gamma*abs(trackpose) - \beta V_x abs(trackpose)
High-speed Autonomous Drifting with Deep Reinforcement Learning State-Space model. SAC drift controller. CARLA Simulator. Features: state variables and errors between reference and current state.
End-to-End Race Driving with Deep Reinforcement Learning Features: RAW RGB image. Simulator: World rally championship game. A3C Algorithm, CNN+LSTM encoder. Reward: R = v(cos(alpha)-d) where alpha angle to track and d distance to track center.
Imitation Learning
Generative Adversarial Imitation Learning
Supervised policy learning
Reinforcement Learning
Proximal Policy Optimization Algorithms
Decision Transformer
Reinforcement Learning via Sequence Modeling
Misc.
YOLO-Z: Improving small object detection in YOLOv5 for autonomous vehicles
Real-time 3D Pose Estimation with a Monocular Camera Using Deep Learning and Object Priors