End-to-End Driving Via Conditional Imitation Learning

@article{Codevilla2018EndtoEndDV,
  title={End-to-End Driving Via Conditional Imitation Learning},
  author={Felipe Codevilla and Matthias Miiller and Antonio L{\'o}pez and Vladlen Koltun and Alexey Dosovitskiy},
  journal={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2018},
  pages={1-9}
}
Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur… CONTINUE READING

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