Scenario-Based Curriculum Generation for Multi-Agent Autonomous Driving
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866913680132669440 |
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| author | Brunnbauer, Axel Berducci, Luigi Priller, Peter Nickovic, Dejan Grosu, Radu |
| author_facet | Brunnbauer, Axel Berducci, Luigi Priller, Peter Nickovic, Dejan Grosu, Radu |
| contents | The automated generation of diverse and complex training scenarios has been an important ingredient in many complex learning tasks. Especially in real-world application domains, such as autonomous driving, auto-curriculum generation is considered vital for obtaining robust and general policies. However, crafting traffic scenarios with multiple, heterogeneous agents is typically considered as a tedious and time-consuming task, especially in more complex simulation environments. In our work, we introduce MATS-Gym, a Multi-Agent Traffic Scenario framework to train agents in CARLA, a high-fidelity driving simulator. MATS-Gym is a multi-agent training framework for autonomous driving that uses partial scenario specifications to generate traffic scenarios with variable numbers of agents. This paper unifies various existing approaches to traffic scenario description into a single training framework and demonstrates how it can be integrated with techniques from unsupervised environment design to automate the generation of adaptive auto-curricula. The code is available at https://github.com/AutonomousDrivingExaminer/mats-gym. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_17805 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Scenario-Based Curriculum Generation for Multi-Agent Autonomous Driving Brunnbauer, Axel Berducci, Luigi Priller, Peter Nickovic, Dejan Grosu, Radu Robotics Machine Learning Multiagent Systems The automated generation of diverse and complex training scenarios has been an important ingredient in many complex learning tasks. Especially in real-world application domains, such as autonomous driving, auto-curriculum generation is considered vital for obtaining robust and general policies. However, crafting traffic scenarios with multiple, heterogeneous agents is typically considered as a tedious and time-consuming task, especially in more complex simulation environments. In our work, we introduce MATS-Gym, a Multi-Agent Traffic Scenario framework to train agents in CARLA, a high-fidelity driving simulator. MATS-Gym is a multi-agent training framework for autonomous driving that uses partial scenario specifications to generate traffic scenarios with variable numbers of agents. This paper unifies various existing approaches to traffic scenario description into a single training framework and demonstrates how it can be integrated with techniques from unsupervised environment design to automate the generation of adaptive auto-curricula. The code is available at https://github.com/AutonomousDrivingExaminer/mats-gym. |
| title | Scenario-Based Curriculum Generation for Multi-Agent Autonomous Driving |
| topic | Robotics Machine Learning Multiagent Systems |
| url | https://arxiv.org/abs/2403.17805 |