SafetyAware Adversarial Inverse Reinforcement Learning for Highway Autonomous Driving

Abstract

Inverse reinforcement learning (IRL) has been successfully applied in many robotics and autonomous driving studies without the need for handtuning a reward function. However, it suffers from safety issues. Compared to the reinforcement learning algorithms, IRL is even more vulnerable to unsafe situations as it can only infer the importance of safety based on expert demonstrations. In this paper, we propose a safetyaware adversarial inverse reinforcement learning (SAIRL) algorithm. First, the control barrier function is used to guide the training of a safety critic, which leverages the knowledge of system dynamics in the sampling process without training an additional guiding policy. The trained safety critic is then integrated into the discriminator to help discern the generated data and expert demonstrations from the standpoint of safety. Finally, to further enforce the importance of safety, a regulator is introduced in the loss function of the discriminator training to prevent the recovered reward function from assigning high rewards to the risky behaviors. We tested our SAIRL in the highway autonomous driving scenario. Comparing to the original AIRL algorithm, with the same level of imitation learning performance, the proposed SAIRL can reduce the collision rate by 32.6%.