Driving Through Ghosts: Behavioral Cloning with False Positives
Andreas Bühler,Adrien Gaidon,Andrei Cramariuc,Rares Ambrus,Guy Rosman,Wolfram Burgard,Andreas Bühler,Adrien Gaidon,Andrei Cramariuc,Rares Ambrus,Guy Rosman,Wolfram Burgard
Safe autonomous driving requires robust detection of other traffic participants. However, robust does not mean perfect, and safe systems typically minimize missed detections at the expense of a higher false positive rate. This results in conservative and yet potentially dangerous behavior such as avoiding imaginary obstacles. In the context of behavioral cloning, perceptual errors at training time...
