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The task of collision-free navigation (CFN) of self-driving cars is an NP-hard problem usually tackled using Deep Reinforcement Learning (DRL).
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Gupta, D., Klusch, M.: Hylear: Hybrid deep reinforcement learning and planning for safe and comfortable automated driving. In: 2023 IEEE Intelligent Vehicles Symposium (IV), pp. 1–8 (2023). https://doi.org/10.1109/IV55152.2023.10186781
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