mlsanityData to 14 Oct 2026

Urban Driving with Multi-Objective Deep Reinforcement Learning

arXiv 1811.08586 ↗First posted 21 Nov 2018cs.LG cs.AI cs.ROcited by 30

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Abstract (arXiv)

Autonomous driving is a challenging domain that entails multiple aspects: a vehicle should be able to drive to its destination as fast as possible while avoiding collision, obeying traffic rules and ensuring the comfort of passengers. In this paper, we present a deep learning variant of thresholded lexicographic Q-learning for the task of urban driving. Our multi-objective DQN agent learns to drive on multi-lane roads and intersections, yielding and changing lanes according to traffic rules. We also propose an extension for factored Markov Decision Processes to the DQN architecture that provides auxiliary features for the Q function. This is shown to significantly improve data efficiency. We then show that the learned policy is able to zero-shot transfer to a ring road without sacrificing performance.

Key facts. Cited by 30 papers in the map (data through 14 Oct 2026). First posted on arXiv 21 Nov 2018.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 9; 2022: 2; 2023: 4; 2024: 7; 2025: 6; 2026: 2.

30 papers.

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  1. 2021A Practical Guide to Multi-Objective Reinforcement Learning and Planningcited by 256
  2. 2021Reward (Mis)design for Autonomous Drivingcited by 104
  3. 2021A Survey of Deep RL and IL for Autonomous Driving Policy Learningcited by 61
  4. 2024A Review of Reward Functions for Reinforcement Learning in the context of Autonomous Drivingcited by 18
  5. 2024Thresholded Lexicographic Ordered Multiobjective Reinforcement Learningcited by 8
  6. 2024Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutionscited by 7
  7. 2021Navigation In Urban Environments Amongst Pedestrians Using Multi-Objective Deep Reinforcement Learningcited by 5
  8. 2023Prioritized Soft Q-Decomposition for Lexicographic Reinforcement Learningcited by 5
  9. 2024Generalized Multi-Objective Reinforcement Learning with Envelope Updates in URLLC-enabled Vehicular Networkscited by 5
  10. 2025Multi-Objective Reinforcement Learning with Max-Min Criterion: A Game-Theoretic Approachcited by 5
  11. 2024MODULI: Unlocking Preference Generalization via Diffusion Models for Offline Multi-Objective Reinforcement Learningcited by 4
  12. 2021Goal-constrained Sparse Reinforcement Learning for End-to-End Drivingcited by 3
18 more
  1. 2021I Know You Can't See Me: Dynamic Occlusion-Aware Safety Validation of Strategic Planners for Autonomous Vehicles Using Hypergamescited by 3
  2. 2021Generalized dynamic cognitive hierarchy models for strategic driving behaviorcited by 3
  3. 2023Developing Driving Strategies Efficiently: A Skill-Based Hierarchical Reinforcement Learning Approachcited by 3
  4. 2025Multi-Objective Reinforcement Learning for Adaptable Personalized Autonomous Drivingcited by 3
  5. 2021Explanation-Aware Experience Replay in Rule-Dense Environmentscited by 2
  6. 2023Autonomous and Human-Driven Vehicles Interacting in a Roundabout: A Quantitative and Qualitative Evaluationcited by 2
  7. 2024Navigating Trade-offs: Policy Summarization for Multi-Objective Reinforcement Learningcited by 2
  8. 2022Intelligent Autonomous Intersection Managementcited by 1
  9. 2022gTLO: A Generalized and Non-linear Multi-Objective Deep Reinforcement Learning Approachcited by 1
  10. 2025Balancing Progress and Safety: A Novel Risk-Aware Objective for RL in Autonomous Drivingcited by 1
  11. 2025LPPG-RL: Lexicographically Projected Policy Gradient Reinforcement Learning with Subproblem Explorationcited by 1
  12. 2021A taxonomy of strategic human interactions in traffic conflictscited by 0
  13. 2023Revealed Multi-Objective Utility Aggregation in Human Drivingcited by 0
  14. 2024Effective Reward Specification in Deep Reinforcement Learningcited by 0
  15. 2025Multi-Objective Reinforcement Learning for Water Managementcited by 0
  16. 2025Pareto-NRPA: A Novel Monte-Carlo Search Algorithm for Multi-Objective Optimizationcited by 0
  17. 2026Beyond Scalar Rewards: Distributional Reinforcement Learning with Preordered Objectives for Safe and Reliable Autonomous Drivingcited by 0
  18. 2026TREX: Trajectory Explanations for Multi-Objective Reinforcement Learningcited by 0