mlsanityData to 7 Oct 2026

State Dropout-Based Curriculum Reinforcement Learning for Self-Driving at Unsignalized Intersections

arXiv 2207.04361 ↗First posted 10 Jul 2022cs.RO cs.AI cs.LGcited by 15

On the map: End-to-end autonomous driving → Reinforcement learning for driving

Abstract (arXiv)

Traversing intersections is a challenging problem for autonomous vehicles, especially when the intersections do not have traffic control. Recently deep reinforcement learning has received massive attention due to its success in dealing with autonomous driving tasks. In this work, we address the problem of traversing unsignalized intersections using a novel curriculum for deep reinforcement learning. The proposed curriculum leads to: 1) A faster training process for the reinforcement learning agent, and 2) Better performance compared to an agent trained without curriculum. Our main contribution is two-fold: 1) Presenting a unique curriculum for training deep reinforcement learning agents, and 2) showing the application of the proposed curriculum for the unsignalized intersection traversal task. The framework expects processed observations of the surroundings from the perception system of the autonomous vehicle. We test our method in the CommonRoad motion planning simulator on T-intersections and four-way intersections.

Key facts. Cited by 15 papers in the map (data through 7 Oct 2026). Placed in Reinforcement learning for driving, one of 9 directions in End-to-end autonomous driving. Builds on 15 of its 29 references that are in the map. First posted on arXiv 10 Jul 2022.

Builds on

15 of 29 references.

References · 15

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2015Continuous control with deep reinforcement learningcited by 3,279
  3. 2019Solving Rubik's Cube with a Robot Handcited by 699
  4. 2017End-to-end Driving via Conditional Imitation Learningcited by 479
  5. 2020Curriculum Learning for Reinforcement Learning Domains: A Framework and Surveycited by 350
  6. 2020Transfer Learning in Deep Reinforcement Learning: A Surveycited by 259
  7. 2018Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learningcited by 101
  8. 2018EnsembleDAgger: A Bayesian Approach to Safe Imitation Learningcited by 96
  9. 2017Virtual-to-real Deep Reinforcement Learning: Continuous Control of Mobile Robots for Mapless Navigationcited by 90
  10. 2019Safe Reinforcement Learning on Autonomous Vehiclescited by 48
  11. 2021Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learningcited by 41
  12. 2017Navigating Occluded Intersections with Autonomous Vehicles using Deep Reinforcement Learningcited by 21
3 more
  1. 2020Reinforcement Learning with Uncertainty Estimation for Tactical Decision-Making in Intersectionscited by 15
  2. 2019Learning When to Drive in Intersections by Combining Reinforcement Learning and Model Predictive Controlcited by 8
  3. 2020Safe Planning for Self-Driving Via Adaptive Constrained ILQRcited by 7

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Cited by year

Citing papers per year: 2023: 2; 2024: 5; 2025: 8.

15 papers.

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  1. 2025CurricuVLM: Towards Safe Autonomous Driving via Personalized Safety-Critical Curriculum Learning with Vision-Language Modelscited by 11
  2. 2024Reward-Driven Automated Curriculum Learning for Interaction-Aware Self-Driving at Unsignalized Intersectionscited by 8
  3. 2024Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutionscited by 7
  4. 2023Continual Driving Policy Optimization with Closed-Loop Individualized Curriculacited by 4
  5. 2024Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersectionscited by 4
  6. 2025LearningFlow: Automated Policy Learning Workflow for Urban Driving with Large Language Modelscited by 4
  7. 2025Bilevel Multi-Armed Bandit-Based Hierarchical Reinforcement Learning for Interaction-Aware Self-Driving at Unsignalized Intersectionscited by 4
  8. 2024Towards Sample-Efficiency and Generalization of Transfer and Inverse Reinforcement Learning: A Comprehensive Literature Reviewcited by 3
  9. 2023V2X-Lead: LiDAR-based End-to-End Autonomous Driving with Vehicle-to-Everything Communication Integrationcited by 2
  10. 2025Large-Scale Mixed-Traffic and Intersection Control using Multi-agent Reinforcement Learningcited by 2
  11. 2025Automatic Curriculum Learning for Driving Scenarios: Towards Robust and Efficient Reinforcement Learningcited by 2
  12. 2025Balancing Progress and Safety: A Novel Risk-Aware Objective for RL in Autonomous Drivingcited by 1
3 more
  1. 2024Model Checking for Reinforcement Learning in Autonomous Driving: One Can Do More Than You Think!cited by 0
  2. 2025Diverse and Adaptive Behavior Curriculum for Autonomous Driving: A Student-Teacher Framework with Multi-Agent RLcited by 0
  3. 2025Orchestrate, Generate, Reflect: A VLM-Based Multi-Agent Collaboration Framework for Automated Driving Policy Learningcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2023Deep Reinforcement Learning for Autonomous Vehicle Intersection Navigation
  2. 2021Pedestrian Collision Avoidance for Autonomous Vehicles at Unsignalized Intersection Using Deep Q-Network
  3. 2021Evaluating the Robustness of Deep Reinforcement Learning for Autonomous Policies in a Multi-agent Urban Driving Environment
  4. 2019Model-free Deep Reinforcement Learning for Urban Autonomous Driving
  5. 2026Compact Latent Coordination for Autonomous Vehicles at Unsignalized Intersections
  6. 2023Integration of Reinforcement Learning Based Behavior Planning With Sampling Based Motion Planning for Automated Driving
  7. 2022Adaptive Decision Making at the Intersection for Autonomous Vehicles Based on Skill Discovery
  8. 2023MTD-GPT: A Multi-Task Decision-Making GPT Model for Autonomous Driving at Unsignalized Intersections