MPNP: Multi-Policy Neural Planner for Urban Driving
Jie Cheng,Ren Xin,Sheng Wang,Ming Liu,Jie Cheng,Ren Xin,Sheng Wang,Ming Liu
Our goal is to train a neural planner that can capture diverse driving behaviors in complex urban scenarios. We observe that even state-of-the-art neural planners are struggling to perform common maneuvers such as lane change, which is rather natural for human drivers. We propose to explore the multi-modalities in the planning problem and force the neural planner to explicitly consider different p...
