Cooperative Driving:

We tackle the problem of autonomous driving in complex & competitive mixed-autonomy environments where autonomous vehicles interact with vehicles driven by humans. Formally, we model this problem as a partially-observable stochastic game and train reinforcement learning agents that cooperate with each other and sympathize with human-driven vehicles. Our autonomous agents learn general latent representations that enables them to coordinate in novel environments. For more details about each paper, please refer to the paper’s individual website:

Publications:

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Cooperative Autonomous Vehicles that Sympathize with Human Drivers

Behrad Toghi, Rodolfo Valiente, Dorsa Sadigh, Ramtin Pedarsani, Yaser P. Fallah

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

cooperative driving
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Altruistic Maneuver Planning for Cooperative Autonomous Vehicles Using Multi-agent Advantage Actor-Critic

Behrad Toghi, Rodolfo Valiente, Dorsa Sadigh, Ramtin Pedarsani, Yaser P. Fallah

2021 ADP3 Workshop at IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2021)

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Social Coordination and Altruism in Cooperative Autonomous Driving [submitted]

Behrad Toghi, Rodolfo Valiente, Dorsa Sadigh, Ramtin Pedarsani, Yaser P. Fallah

IEEE Transactions on Intelligent Vehicles (TIV)

TITS

Talks:

Watch my talk on Altruistic Maneuver Planning at “CVPR 2021 Workshop Autonomous Driving: Perception, Prediction and PlanningJune 2021

Presenting our paperCooperative Autonomous Vehicles that Sympathize with Human Drivers at “IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept 2021

Posters:

cvpr2021

Poster of our paper in IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2021)