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Unprotected Left Turn using Reinforcement-learning Agents

Project description


Unprotected Left Turn using Reinforcement-learning Agents

Ultra provides a gym-based environment using SMARTS for tackling intersection navigation and more specifically unprotected left turn.

Here is the summary of key features:

  • Customizable scenarios with different levels of difficulty.
  • Analysis tools to evaluate traffic designs including low-mid-high densities.
  • Tools to support analyzing social-vehicle behaviors.
  • Configurable train and test parameters.
  • Benchmark results to train and test custom RL algorithms against.



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Citing ULTRA

For a longer introduction to ULTRA, including its purpose, concepts, and benchmarks, please see ULTRA: A reinforcement learning generatlization benchmark for autonomous driving.

If you use ULTRA in your research, you can use to the following citation.

  author          = {Elsayed, Mohamed and Hassanzadeh, Kimia and Nguyen, Nhat M,
                  and Alban, Montgomery and Zhu, Xiru and Graves, Daniel and
                  Luo, Jun},
  journal         = {Machine Learning for Autonomous Driving Workshoo, Neural
                  Information Processing Systems},
  title           = {ULTRA: A reinforcement learning generalization benchmark
                  for autonomous driving},
  url             = { A
                  reinforcement learning generalization benchmark for autonomous
  year            = 2020,

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