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Goal-conditioned Reinforcement Learning (RL) holds promise for addressing intricate control challenges by enabling agents to learn and execute desired skills through separate decision modules. However, the irregular occurrence of required skills poses a significant challenge to effective learning. In this paper, we demonstrate the detrimental effects of this imbalanced skill (sub-goal) distribution and propose a novel training approach, Classified Experience Replay (CER), designed to mitigate this challenge. We demonstrate that adapting our method to conventional RL methods significantly enhances the performance of the RL agent. Considering the challenges inherent in tasks such as driving, characterized by biased occurrences of required sub-goals, our study demonstrates the improvement in trained outcomes facilitated by the proposed method. In addition, we introduce a specialized framework tailored for self-driving tasks on highways, integrating model predictive control into our RL trajectory optimization training paradigm. Our approach, utilizing CER with the suggested framework, yields remarkable advancements in trajectory optimization for RL agents operating in highway environments. [ABSTRACT FROM AUTHOR]

Multi-object tracking (MOT) has gained significant attention in computer vision due to its wide range of applications. Specifically, detection-based trackers have shown high performance in MOT, but they tend to fail in occlusive scenarios such as the moment when objects overlap or separate. In this paper, we propose a triplet-based MOT network that integrates the tracking information and the visual features of the object. Using a triplet-based image feature, the network can differentiate similar-looking objects, reducing the number of identity switches over a long period. Furthermore, an attention-based re-identification model that focuses on the appearance of objects was introduced to extract the feature vectors from the images to effectively associate the objects. The extensive experimental results demonstrated that the proposed method outperforms existing methods on the ID switch metric and improves the detection performance of the tracking system. [ABSTRACT FROM AUTHOR]

A new obstacle avoidance method for autonomous vehicles called obstacle-dependent Gaussian potential field (ODG-PF) was designed and implemented. It detects obstacles and calculates the likelihood of collision with them. In this paper, we present a novel attractive field and repulsive field calculation method and direction decision approach. Simulations and the experiments were carried out and compared with other potential field-based obstacle avoidance methods. The results show that ODG-PF performed the best in most cases., 1. Introduction Autonomous vehicle systems need path planning, indoor and outdoor localization, obstacle avoidance, object detection, and classification of cars, humans, pets, and traffic signs, signals, etc. Path planning is [...]