Beyond Trial and Error: Lane Keeping with Monte Carlo Tree Search-Driven Optimization of Reinforcement Learning

Abstract

In recent years, Reinforcement Learning (RL) has excelled in the realm of autonomous vehicle control, which is distinguished by the absence of limitations, such as specific training data or the necessity for explicit mathematical model identification. Particularly in the context of lane keeping, a diverse set of rewarding strategies yields a spectrum of realizable policies. Nevertheless, the challenge lies in discerning the optimal behavior that maximizes performance. Traditional approaches entail exhaustive training through a trial-and-error strategy across conceivable reward functions, which is a process notorious for its time-consuming nature and substantial financial implications. Contrary to conventional methodologies, the Monte Carlo Tree Search (MCTS) enables the prediction of reward function quality through Monte Carlo simulations, thereby eliminating the need for exhaustive training on all available reward functions. The findings obtained from MCTS simulations can be effectively leveraged to selectively train only the most suitable RL models. This approach helps alleviate the resource-heavy nature of traditional RL processes through altering the training pipeline. This paper validates the theoretical framework concerning the unique property of the Monte Carlo Tree Search algorithm by emphasizing its generality through highlighting crossalgorithmic and crossenvironmental capabilities while also showcasing its potential to reduce training costs.