id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ajst-26743	Zhou, Mingyan; Wang, Biao; Tan, Tian; Sun, Xiatao	Developing Path Planning with Behavioral Cloning and Proximal Policy Optimization for Path-Tracking and Static Obstacle Nudging	2024	7	.pdf	application/pdf	4090	239	57	To enhance path planning with RL and IL to move beyond reactive performance, we shifted outputs from steering and speed commands to sequences of data such as lateral offsets or a series of actions. We implemented the Behavioral Cloning (BC) algorithm 44 on path planning in path-tracking tasks, ensuring compatibility with various path-tracking controllers (Fig. 1); 3) We utilized the Proximal Policy Optimization (PPO) algorithm bootstrapped by BC to adjust reference waypoints with lateral offsets, enabling obstacle avoidance through nudging (Fig. 2).	cache/ajst-26743.pdf	txt/ajst-26743.txt