Abstract: An autonomous driving vehicle includes a body, a source of motive power, and a controller. The source of motive power is operatively coupled to the body. The controller is configured to control the source of motive power. The controller includes a storage module in which pre-collecting data is stored. The controller is pre-trained with the pre-collected data. The pre-training is carried out using behavioral cloning and/or offline TD learning, before the autonomous driving vehicle enters an operational environment. The controller is further trained, after the pre-training, using an actor-critic reinforcement learning algorithm to fine-tune and thereby improve the final agent.