Formula RL: Deep Reinforcement Learning for Autonomous Racing using Telemetry Data

Research output: Contribution to conferencePaper

Abstract

This paper explores the use of reinforcement learning (RL) models for autonomous racing. In contrast to passenger cars, where safety is the top priority, a racing car aims to minimize the lap-time. We frame the problem as a reinforcement learning task with a multidimensional input consisting of the vehicle telemetry, and a continuous action space. To find out which RL methods better solve the problem and whether the obtained models generalize to driving on unknown tracks, we put 10 variants of deep de-terministic policy gradient (DDPG) to race in two experiments: i) studying how RL methods learn to drive a racing car and ii) studying how the learning scenario influences the capability of the models to generalize. Our studies show that models trained with RL are not only able to drive faster than the baseline open source handcrafted bots but also generalize to unknown tracks.
Original languageEnglish
Publication statusPublished - 2019
EventWorkshop on Scaling-Up Reinforcement Learning : SURL - Macau, China
Duration: 10 Aug 201916 Aug 2019
http://surl.tirl.info/?p=program&y=2019

Workshop

WorkshopWorkshop on Scaling-Up Reinforcement Learning
CountryChina
Period10/08/1916/08/19
Internet address

Keywords

  • Reinforcement Learning
  • Autonomous driving

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