Exploring Imitation Learning for Autonomous Driving with Feedback Synthesizer and Differentiable Rasterization
Jinyun Zhou,Rui Wang,Xu Liu,Yifei Jiang,Shu Jiang,Jiaming Tao,Jinghao Miao,Shiyu Song,Jinyun Zhou,Rui Wang,Xu Liu,Yifei Jiang,Shu Jiang,Jiaming Tao,Jinghao Miao,Shiyu Song
We present a learning-based planner that aims to robustly drive a vehicle by mimicking human drivers’ driving behavior. We leverage a mid-to-mid approach that allows us to manipulate the input to our imitation learning network freely. With that in mind, we propose a novel feedback synthesizer for data augmentation. It allows our agent to gain more driving experience in various previously unseen en...
