Multi-residual Mixture of Experts Learning for Cooperative Control in Multi-vehicle Systems
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866911053916405760 |
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| author | Jayawardana, Vindula Li, Sirui Farid, Yashar Wu, Cathy |
| author_facet | Jayawardana, Vindula Li, Sirui Farid, Yashar Wu, Cathy |
| contents | Autonomous vehicles (AVs) are becoming increasingly popular, with their applications now extending beyond just a mode of transportation to serving as mobile actuators of a traffic flow to control flow dynamics. This contrasts with traditional fixed-location actuators, such as traffic signals, and is referred to as Lagrangian traffic control. However, designing effective Lagrangian traffic control policies for AVs that generalize across traffic scenarios introduces a major challenge. Real-world traffic environments are highly diverse, and developing policies that perform robustly across such diverse traffic scenarios is challenging. It is further compounded by the joint complexity of the multi-agent nature of traffic systems, mixed motives among participants, and conflicting optimization objectives subject to strict physical and external constraints. To address these challenges, we introduce Multi-Residual Mixture of Expert Learning (MRMEL), a novel framework for Lagrangian traffic control that augments a given suboptimal nominal policy with a learned residual while explicitly accounting for the structure of the traffic scenario space. In particular, taking inspiration from residual reinforcement learning, MRMEL augments a suboptimal nominal AV control policy by learning a residual correction, but at the same time dynamically selects the most suitable nominal policy from a pool of nominal policies conditioned on the traffic scenarios and modeled as a mixture of experts. We validate MRMEL using a case study in cooperative eco-driving at signalized intersections in Atlanta, Dallas Fort Worth, and Salt Lake City, with real-world data-driven traffic scenarios. The results show that MRMEL consistently yields superior performance-achieving an additional 4%-9% reduction in aggregate vehicle emissions relative to the strongest baseline in each setting. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_09836 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Multi-residual Mixture of Experts Learning for Cooperative Control in Multi-vehicle Systems Jayawardana, Vindula Li, Sirui Farid, Yashar Wu, Cathy Robotics Artificial Intelligence Machine Learning Multiagent Systems Systems and Control Autonomous vehicles (AVs) are becoming increasingly popular, with their applications now extending beyond just a mode of transportation to serving as mobile actuators of a traffic flow to control flow dynamics. This contrasts with traditional fixed-location actuators, such as traffic signals, and is referred to as Lagrangian traffic control. However, designing effective Lagrangian traffic control policies for AVs that generalize across traffic scenarios introduces a major challenge. Real-world traffic environments are highly diverse, and developing policies that perform robustly across such diverse traffic scenarios is challenging. It is further compounded by the joint complexity of the multi-agent nature of traffic systems, mixed motives among participants, and conflicting optimization objectives subject to strict physical and external constraints. To address these challenges, we introduce Multi-Residual Mixture of Expert Learning (MRMEL), a novel framework for Lagrangian traffic control that augments a given suboptimal nominal policy with a learned residual while explicitly accounting for the structure of the traffic scenario space. In particular, taking inspiration from residual reinforcement learning, MRMEL augments a suboptimal nominal AV control policy by learning a residual correction, but at the same time dynamically selects the most suitable nominal policy from a pool of nominal policies conditioned on the traffic scenarios and modeled as a mixture of experts. We validate MRMEL using a case study in cooperative eco-driving at signalized intersections in Atlanta, Dallas Fort Worth, and Salt Lake City, with real-world data-driven traffic scenarios. The results show that MRMEL consistently yields superior performance-achieving an additional 4%-9% reduction in aggregate vehicle emissions relative to the strongest baseline in each setting. |
| title | Multi-residual Mixture of Experts Learning for Cooperative Control in Multi-vehicle Systems |
| topic | Robotics Artificial Intelligence Machine Learning Multiagent Systems Systems and Control |
| url | https://arxiv.org/abs/2507.09836 |