Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Behavioral decision-making for urban autonomous driving in the presence
  of pedestrians using Deep Recurrent Q-Network   Decision making for autonomous driving in urban environments is challenging
due to the complexity of the road structure and the uncertainty in the behavior
of diverse road users. Traditional methods consist of manually designed rules
as the driving policy, which require expert domain knowledge, are difficult to
generalize and might give sub-optimal results as the environment gets complex.
Whereas, using reinforcement learning, optimal driving policy could be learned
and improved automatically through several interactions with the environment.
However, current research in the field of reinforcement learning for autonomous
driving is mainly focused on highway setup with little to no emphasis on urban
environments. In this work, a deep reinforcement learning based decision-making
approach for high-level driving behavior is proposed for urban environments in
the presence of pedestrians. For this, the use of Deep Recurrent Q-Network
(DRQN) is explored, a method combining state-of-the art Deep Q-Network (DQN)
with a long term short term memory (LSTM) layer helping the agent gain a memory
of the environment. A 3-D state representation is designed as the input
combined with a well defined reward function to train the agent for learning an
appropriate behavior policy in a real-world like urban simulator. The proposed
method is evaluated for dense urban scenarios and compared with a rule-based
approach and results show that the proposed DRQN based driving behavior
decision maker outperforms the rule-based approach.

17
The categories of this paper are: q-fin
5
The categories of this paper are: gr-qc
10
The categories of this paper are: q-bio
9
The categories of this paper are: nlin
19
The categories of this paper are: eess
30
The categories of this paper are: q-alg
12
The categories of this paper are: nucl-th
32
The categories of this paper are: atom-ph
29
The categories of this paper are: funct-an
35
The categories of this paper are: mtrl-th
6
The categories of this paper are: astro-ph
34
The categories of this paper are: chem-ph
7
The categories of this paper are: hep-th
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
8
The categories of this paper are: hep-ex