Scenario-Based Curriculum Generation for Multi-Agent Autonomous Driving
This work addresses the problem of efficient scenario generation for training robust autonomous driving policies, though it appears incremental as it builds on and unifies existing methods.
The paper tackles the tedious and time-consuming task of generating diverse traffic scenarios for multi-agent autonomous driving by introducing MATS-Gym, a framework that unifies existing approaches and integrates unsupervised environment design to automate adaptive auto-curricula generation, with code made publicly available.
The automated generation of diverse and complex training scenarios has been an important ingredient in many complex learning tasks. Especially in real-world application domains, such as autonomous driving, auto-curriculum generation is considered vital for obtaining robust and general policies. However, crafting traffic scenarios with multiple, heterogeneous agents is typically considered as a tedious and time-consuming task, especially in more complex simulation environments. In our work, we introduce MATS-Gym, a Multi-Agent Traffic Scenario framework to train agents in CARLA, a high-fidelity driving simulator. MATS-Gym is a multi-agent training framework for autonomous driving that uses partial scenario specifications to generate traffic scenarios with variable numbers of agents. This paper unifies various existing approaches to traffic scenario description into a single training framework and demonstrates how it can be integrated with techniques from unsupervised environment design to automate the generation of adaptive auto-curricula. The code is available at https://github.com/AutonomousDrivingExaminer/mats-gym.