论文总结
1. Cooperation-Aware Reinforcement Learning for Merging in Dense Traffic
原文链接:https://arxiv.org/pdf/1906.11021.pdf
场景:密集道路中的并道,协作强化学习
ⅠBackground
方法:POMDP,Deep Q learning;
贝尔曼方程:
损失函数设计:
Ⅱ PROPOSED APPROACH
A. Merging Scenario POMDP
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State:
行为特点(级别):c
车辆状态:
s t i = ( x t i , v t i , a t i , c t i ) s^i_t =