With the growing phase of artificial intelligence and autonomous learning, the self-driving car is one of the promising area of research and emerging as a center of focus for automobile industries. Behavioral cloning is the process of replicating human behavior via visuomotor policies by means of machine learning algorithms. In recent years, several deep learning-based behavioral cloning approaches have been developed in the context of self-driving cars specifically based on the concept of transfer learning. Concerning the same, the present paper proposes a transfer learning approach using VGG16 architecture, which is fine tuned by retraining the last block while keeping other blocks as non-trainable. The performance of proposed architecture is further compared with existing NVIDIA architecture and its pruned variants (pruned by 22.2% and 33.85% using 1x1 filter to decrease the total number of parameters). Experimental results show that the VGG16 with transfer learning architecture has outperformed other discussed approaches with faster convergence.
The goal of our work is to use visual attention to enhance autonomous driving performance. We present two methods of predicting visual attention maps. The first method is a supervised learning approach in which we collect eye-gaze data for the task of driving and use this to train a model for predicting the attention map. The second method is a novel unsupervised approach where we train a model to learn to predict attention as it learns to drive a car. Finally, we present a comparative study of our results and show that the supervised approach for predicting attention when incorporated perform…
K. J. Somaiya College Of Engineering（K. J. 索马亚工程学院）；Startup School India（印度创业学校）
Self Driving Car technology is a vehicle that guides itself without human conduction. The first truly autonomous cars appeared in the 1980s with projects funded by DARPA( Defense Advance Research Project Agency ). Since then a lot has changed with the improvements in the fields of Computer Vision and Machine Learning. We have used the concept of behavioral cloning to convert a normal RC model car into an autonomous car using Deep Learning technology
Autonomous Systems Lab (ASL), ETH Zurich（苏黎世联邦理工学院自主系统实验室）；Toyota Research Institute (TRI)（丰田研究所）
Safe autonomous driving requires robust detection of other traffic participants. However, robust does not mean perfect, and safe systems typically minimize missed detections at the expense of a higher false positive rate. This results in conservative and yet potentially dangerous behavior such as avoiding imaginary obstacles. In the context of behavioral cloning, perceptual errors at training time can lead to learning difficulties or wrong policies, as expert demonstrations might be inconsistent with the perceived world state. In this work, we propose a behavioral cloning approach that can saf…
While behavior learning has made impressive progress in recent times, it lags behind computer vision and natural language processing due to its inability to leverage large, human-generated datasets. Human behaviors have wide variance, multiple modes, and human demonstrations typically do not come with reward labels. These properties limit the applicability of current methods in Offline RL and Behavioral Cloning to learn from large, pre-collected datasets. In this work, we present Behavior Transformer (BeT), a new technique to model unlabeled demonstration data with multiple modes. BeT retrofit…
Computer Vision Center (CVC)（计算机视觉中心（CVC））；Toyota Research Institute (TRI)（丰田研究院（TRI））
Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of human-driven cars. Behavior cloning in particular has been successfully used to learn simple visuomotor policies end-to-end, but scaling to the full spectrum of driving behaviors remains an unsolved problem. In this paper, we propose a new benchmark to experimentally investigate the scalability and limitations of behavior cloning. We show that behavior clon…
We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly used explicit models. We present extensive experiments on this finding, and we provide both intuitive insight and theoretical arguments distinguishing the properties of implicit models compared to their explicit counterparts, particularly with respect to approximating complex, potentially discontinuous and multi-valued (set-valued) functions. On robotic policy learning tasks we show that implicit behavioral cloning …
Indiana University Bloomington（印第安纳大学伯明顿分校）；Stony Brook University（石溪大学）
We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be expensive/dangerous. We present a new approach to address this problem by learning a future scene prediction model solely on a collection of expert trajectories consisting of unlabeled example videos and actions, and by enabling generalized action cloning using future image similarity. The robot learns to visually predict the consequences of taking an action, and…
In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a simulated vehicle. The training phase comprised of data collection, balancing, augmentation, preprocessing and training a neural network, following which, the trained model was deployed onto the ego vehicle to predict steering commands based on the feed from an onboard camera. A novel coupled control law was formulated to generate longitudinal control commands on-…
Toyohashi University of Technology（丰桥技术科学大学）；University of Eastern Finland（东芬兰大学）
Autonomous driving systems need to handle complex scenarios such as lane following, avoiding collisions, taking turns, and responding to traffic signals. In recent years, approaches based on end-to-end behavioral cloning have demonstrated remarkable performance in point-to-point navigational scenarios, using a realistic simulator and standard benchmarks. Offline imitation learning is readily available, as it does not require expensive hand annotation or interaction with the target environment, but it is difficult to obtain a reliable system. In addition, existing methods have not specifically …
Identity recognition in a car cabin is a critical task nowadays and offers a great field of applications ranging from personalizing intelligent cars to suit drivers physical and behavioral needs to increasing safety and security. However, the performance and applicability of published approaches are still not suitable for use in series cars and need to be improved. In this paper, we investigate Human Identity Recognition in a car cabin with Time Series Classification (TSC) and deep neural networks. We use gas and brake pedal pressure as input to our models. This data is easily collectable duri…
