Imitation Learning for Agile Autonomous Driving.

  title={Imitation Learning for Agile Autonomous Driving.},
  author={Yunpeng Pan and Ching-An Cheng and Kamil Saigol and Keuntaek Lee and Xinyan Yan and Evangelos Theodorou and Byron Boots},
  • Yunpeng Pan, Ching-An Cheng, +4 authors Byron Boots
  • Published 2019
We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost on-board sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy to map raw, high-dimensional observations to continuous steering and throttle commands. Compared with recent approaches to similar tasks, our method requires neither state estimation nor on-the-fly planning to navigate the vehicle. Our approach… CONTINUE READING