SafetyNet: Safe Planning for Real-World Self-Driving Vehicles Using Machine-Learned Policies
Matt Vitelli,Yan Chang,Yawei Ye,Ana Ferreira,Maciej Wołczyk,Błażej Osiński,Moritz Niendorf,Hugo Grimmett,Qiangui Huang,Ashesh Jain,Peter Ondruska,Matt Vitelli,Yan Chang,Yawei Ye,Ana Ferreira,Maciej Wołczyk,Błażej Osiński,Moritz Niendorf,Hugo Grimmett,Qiangui Huang,Ashesh Jain,Peter Ondruska
In this paper we present the first safe system for full control of self-driving vehicles trained from human demonstrations and deployed in challenging, real-world, urban environments. Current industry-standard solutions use rule-based systems for planning. Although they perform reasonably well in common scenarios, the engineering complexity renders this approach incompatible with human-level perfo...
