Multi-agent Uncertainty-aware Pessimistic Model-based Reinforcement Learning For Connected Autonomous Vehicles
2025 · Ruoqi Wen, Rongpeng Li, Xing Xu, et al.
Abstract
Deep Reinforcement Learning (DRL) holds significant promise for achieving human-like Autonomous Vehicle (AV) capabilities, but suffers from low sample efficiency and challenges in reward design. Model-Based Reinforcement Learning (MBRL) offers improved sample efficiency and generalizability compared to Model-Free Reinforcement Learning (MFRL) in various multi-agent decision-making scenarios. Nevertheless, MBRL faces critical difficulties in estimating uncertainty during the model learning phase, thereby limiting its scalability and applicability in real-world scenarios. Additionally, most Connected Autonomous Vehicle (CAV) studies focus on single-agent decision-making, while existing multi-agent MBRL solutions lack computationally tractable algorithms with Probably Approximately Correct (PAC) guarantees, an essential factor for ensuring policy reliability with limited training data. To address these challenges, we propose MA-PMBRL, a novel Multi-Agent Pessimistic Model-Based Reinforcem
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