Towards Safe Autonomous Driving Policies using a Neuro-Symbolic Deep Reinforcement Learning Approach
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| Format: | Preprint |
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2023
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| _version_ | 1866918148064673792 |
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| author | Sharifi, Iman Yildirim, Mustafa Fallah, Saber |
| author_facet | Sharifi, Iman Yildirim, Mustafa Fallah, Saber |
| contents | The dynamic nature of driving environments and the presence of diverse road users pose significant challenges for decision-making in autonomous driving. Deep reinforcement learning (DRL) has emerged as a popular approach to tackle this problem. However, the application of existing DRL solutions is mainly confined to simulated environments due to safety concerns, impeding their deployment in real-world. To overcome this limitation, this paper introduces a novel neuro-symbolic model-free DRL approach, called DRL with Symbolic Logic (DRLSL) that combines the strengths of DRL (learning from experience) and symbolic first-order logic (knowledge-driven reasoning) to enable safe learning in real-time interactions of autonomous driving within real environments. This innovative approach provides a means to learn autonomous driving policies by actively engaging with the physical environment while ensuring safety. We have implemented the DRLSL framework in a highway driving scenario using the HighD dataset and demonstrated that our method successfully avoids unsafe actions during both the training and testing phases. Furthermore, our results indicate that DRLSL achieves faster convergence during training and exhibits better generalizability to new highway driving scenarios compared to traditional DRL methods. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2307_01316 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Towards Safe Autonomous Driving Policies using a Neuro-Symbolic Deep Reinforcement Learning Approach Sharifi, Iman Yildirim, Mustafa Fallah, Saber Robotics Artificial Intelligence Machine Learning Logic in Computer Science Systems and Control The dynamic nature of driving environments and the presence of diverse road users pose significant challenges for decision-making in autonomous driving. Deep reinforcement learning (DRL) has emerged as a popular approach to tackle this problem. However, the application of existing DRL solutions is mainly confined to simulated environments due to safety concerns, impeding their deployment in real-world. To overcome this limitation, this paper introduces a novel neuro-symbolic model-free DRL approach, called DRL with Symbolic Logic (DRLSL) that combines the strengths of DRL (learning from experience) and symbolic first-order logic (knowledge-driven reasoning) to enable safe learning in real-time interactions of autonomous driving within real environments. This innovative approach provides a means to learn autonomous driving policies by actively engaging with the physical environment while ensuring safety. We have implemented the DRLSL framework in a highway driving scenario using the HighD dataset and demonstrated that our method successfully avoids unsafe actions during both the training and testing phases. Furthermore, our results indicate that DRLSL achieves faster convergence during training and exhibits better generalizability to new highway driving scenarios compared to traditional DRL methods. |
| title | Towards Safe Autonomous Driving Policies using a Neuro-Symbolic Deep Reinforcement Learning Approach |
| topic | Robotics Artificial Intelligence Machine Learning Logic in Computer Science Systems and Control |
| url | https://arxiv.org/abs/2307.01316 |