projects
Selected research and open-source projects in autonomous driving.
The Trajectory Planning Method for Intelligent Vehicles Using Reinforcement Learning and Risk-Reachable Sets
Safe RL and constrained optimization for structured-road trajectory planning.
- Builds uncertainty-aware risk-reachable sets.
- Uses PPO-Lagrangian to generate a safe initial trajectory.
- Refines the trajectory with constrained iLQR.
Automated Valet Parking
Hybrid A* and optimization-based trajectory planning in narrow parking spaces.
- Searches for a collision-free path with Hybrid A*.
- Smooths the path with cubic interpolation.
- Plans speed and control with IPOPT.
Human-Aligned Safe RL for Highway On-Ramp Merging
Preference-aware constrained RL, action shielding, and MPC for safe highway merging.
- Uses discrete SAC for merging decisions.
- Rejects unsafe actions with a trajectory shield.
- Executes smooth vehicle motion with MPC.
EasyRLlib
A compact PyTorch library for reproducible reinforcement-learning experiments.
- Implements DQN, PPO, SAC, DDPG, TD3, and A2C.
- Runs reproducible Gymnasium tasks from YAML.
- Exports checkpoints, curves, metrics, and GIFs.