Learning to Drive Off Road on Smooth Terrain in Unstructured Environments Using an On-Board Camera and Sparse Aerial Images
Travis Manderson,Stefan Wapnick,David Meger,Gregory Dudek,Travis Manderson,Stefan Wapnick,David Meger,Gregory Dudek
We present a method for learning to drive on smooth terrain while simultaneously avoiding collisions in challenging off-road and unstructured outdoor environments using only visual inputs. Our approach applies a hybrid model-based and model-free reinforcement learning method that is entirely self-supervised in labeling terrain roughness and collisions using on-board sensors. Notably, we provide bo...
