Tractable Joint Prediction and Planning over Discrete Behavior Modes for Urban Driving

Significant progress has been made in training multimodal trajectory forecasting models for autonomous driving. However, effectively integrating these models with downstream planners and model-based control approaches is still an open problem. Although these models have conventionally been evaluated for open-loop prediction, we show that they can be used to parameterize autoregressive closed-loop models without retraining. We consider recent trajectory prediction approaches which leverage learned anchor embeddings to predict multiple trajectories, finding that these anchor embeddings can parameterize discrete and distinct modes representing high-level driving behaviors. We propose to perform fully reactive closed-loop planning over these discrete latent modes, allowing us to tractably model the causal interactions between agents at each step. We validate our approach on a suite of more dynamic merging scenarios, finding that our approach avoids the $\textit{frozen robot problem}$ which is pervasive in conventional planners. Our approach also outperforms the previous state-of-the-art in CARLA on challenging dense traffic scenarios when evaluated at realistic speeds.

Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous Driving and Zero-Shot Instruction Following

Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to generate trajectories that maximize both a differentiable reward function and the likelihood under the data distribution captured by a diffusion model. Reward-gradient guided denoising requires a differentiable reward function fitted to both clean and noised samples, limiting its applicability as a general trajectory optimizer. In this paper, we propose DiffusionES, a method that combines gradient-free optimization with trajectory denoising to optimize black-box non-differentiable objectives while staying in the data manifold. Diffusion-ES samples trajectories during evolutionary search from a diffusion model and scores them using a black-box reward function. It mutates high-scoring trajectories using a truncated diffusion process that applies a small number of noising and denoising steps, allowing for much more efficient exploration of the solution space. We show that DiffusionES achieves state-of-the-art performance on nuPlan, an established closed-loop planning benchmark for autonomous driving. Diffusion-ES outperforms existing sampling-based planners, reactive deterministic or diffusion-based policies, and reward-gradient guidance. Additionally, we show that unlike prior guidance methods, our method can optimize non-differentiable language-shaped reward functions generated by few-shot LLM prompting. When guided by a human teacher that issues instructions to follow, our method can generate novel, highly complex behaviors, such as aggressive lane weaving, which are not present in the training data. This allows us to solve the hardest nuPlan scenarios which are beyond the capabilities of existing trajectory optimization methods and driving policies.

Representation Gap in Deep Reinforcement Learning

Deep reinforcement learning gives the promise that an agent learns good policy from high-dimensional information. Whereas representation learning removes irrelevant and redundant information and retains pertinent information. We consider the representation capacity of action value function and theoretically reveal its inherent property, \textit{representation gap} with its target action value function. This representation gap is favorable. However, through illustrative experiments, we show that the representation of action value function grows similarly compared with its target value function, i.e. the undesirable inactivity of the representation gap (\textit{representation overlap}). Representation overlap results in a loss of representation capacity, which further leads to sub-optimal learning performance. To activate the representation gap, we propose a simple but effective framework \underline{P}olicy \underline{O}ptimization from \underline{P}reventing \underline{R}epresentation \underline{O}verlaps (POPRO), which regularizes the policy evaluation phase through differing the representation of action value function from its target. We also provide the convergence rate guarantee of POPRO. We evaluate POPRO on gym continuous control suites. The empirical results show that POPRO using pixel inputs outperforms or parallels the sample-efficiency of methods that use state-based features.