Interleaved Projected Gradient Descent for Safe Imitation Learning
We propose an imitation-learning design for neural-network control policies under state and input constraints. Training alternates a standard imitation gradient step with a block …
A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racing
Guaranteeing constraint satisfaction is a challenging problem in imitation learning (IL), especially when the task involves operating at the handling limits of the system. While …
Real-Time Regulation-Aware Game-Theoretic Motion Planning for Head-to-Head Autonomous Racing
This paper presents the real-time implementation and experimental validation of a regulation-aware, game-theoretic motion planning framework for autonomous racing. The framework …
f.-prignoli
Safe Imitation Learning at Handling Limits
Designed a constraint-aware imitation learning framework incorporating an actor-critic structure for explicit safety modeling.
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1 min read
Vision-based End-to-end Control for Racing
Developed a CNN-based end-to-end controller for high-speed autonomous racing using RGB camera input and velocity feedback.
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1 min read