Interpretable Adversarial Reinforcement Learning

Abstract

Autonomous driving has shown significant progress in recent years. The combination of advanced sensors, ample data, and machine learning algorithms has led to the deployment of autonomous vehicles (AVs) in cities like Los Angeles, San Francisco, and Phoenix. While not all humans can drive perfectly, AVs should be able to plan, adapt, and react to environmental disturbances, including irrational human drivers. My research focuses on applying reinforcement learning (RL) techniques to validate AV-related cyber-physical systems (CPS) in realistic environments. I develop a custom RL environment that simulates highway driving scenarios with multiple vehicles. This environment includes a CPS model of adaptive cruise control (ACC), a lane-changing model (MOBIL), and an adversarial agent that learns to drive irrationally. My work extends interpretable RL techniques to continuous control tasks like autonomous driving.