Control-Aware Prediction Objectives for Autonomous Driving
Rowan McAllister,Blake Wulfe,Jean Mercat,Logan Ellis,Sergey Levine,Adrien Gaidon,Rowan McAllister,Blake Wulfe,Jean Mercat,Logan Ellis,Sergey Levine,Adrien Gaidon
Autonomous vehicle software is typically structured as a modular pipeline of individual components (e.g., perception, prediction, and planning) to help separate concerns into interpretable sub-tasks. Even when end-to-end training is possible, each module has its own set of objectives used for safety assurance, sample efficiency, regularization, or interpretability. However, intermediate objectives...
