Reinforcement Learning with Probabilistically Safe Control Barrier Functions for Ramp Merging
Soumith Udatha,Yiwei Lyu,John Dolan,Soumith Udatha,Yiwei Lyu,John Dolan
Prior work has looked at applying reinforcement learning (RL) approaches to autonomous driving scenarios, but the safety of the algorithm is often compromised due to instability or the presence of ill-defined reward functions. With the use of control barrier functions embedded into the RL policy, we arrive at safe policies to optimize the performance of the autonomous driving vehicle through the a...
