PILOT: Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving
Henry Pulver,Francisco Eiras,Ludovico Carozza,Majd Hawasly,Stefano V. Albrecht,Subramanian Ramamoorthy,Henry Pulver,Francisco Eiras,Ludovico Carozza,Majd Hawasly,Stefano V. Albrecht,Subramanian Ramamoorthy
Achieving a proper balance between planning quality, safety and efficiency is a major challenge for autonomous driving. Optimisation-based motion planners are capable of producing safe, smooth and comfortable plans, but often at the cost of runtime efficiency. On the other hand, naïvely deploying trajectories produced by efficient-to-run deep imitation learning approaches might risk compromising s...
