DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Driving
Zhiyu Huang,Peter Karkus,Boris Ivanovic,Yuxiao Chen,Marco Pavone,Chen Lv,Zhiyu Huang,Peter Karkus,Boris Ivanovic,Yuxiao Chen,Marco Pavone,Chen Lv
Motion prediction and cost evaluation are vital components in the decision-making system of autonomous vehicles. However, existing methods often ignore the importance of cost learning and treat them as separate modules. In this study, we employ a tree-structured policy planner and propose a differentiable joint training framework for both ego-conditioned prediction and cost models, resulting in a ...
