Combining reinforcement learning with rule-based controllers for transparent and general decision-making in autonomous driving

Amarildo Likmeta, Alberto Maria Metelli, Andrea Tirinzoni, Riccardo Giol, Marcello Restelli, Danilo Romano. Combining reinforcement learning with rule-based controllers for transparent and general decision-making in autonomous driving. Robotics and Autonomous Systems, 131:103568, 2020. [doi]

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