End-to-end Driving via Conditional Imitation Learning

https://arxiv.org/abs/1710.02410

End-to-end Driving via Conditional Imitation Learning

Felipe Codevilla, Matthias Müller, Alexey Dosovitskiy, Antonio López, Vladlen Koltun

(Submitted on 6 Oct 2017)

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 that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. Experimental results demonstrate that the presented approach significantly outperforms a number of baselines. The supplementary video can be viewed at this https URL

使用模拟器 carla也进行了训练，真实环境测试视频也有。

机器之心对carla的介绍： https://baijiahao.baidu.com/s?id=1586489273374923446&wfr=spider&for=pc