SHAIL: Safety-Aware Hierarchical Adversarial Imitation Learning for Autonomous Driving in Urban Environments
Arec Jamgochian,Etienne Buehrle,Johannes Fischer,Mykel J. Kochenderfer,Arec Jamgochian,Etienne Buehrle,Johannes Fischer,Mykel J. Kochenderfer
Designing a safe and human-like decision-making system for an autonomous vehicle is a challenging task. Generative imitation learning is one possible approach for automating policy-building by leveraging both real-world and simulated decisions. Previous work that applies generative imitation learning to autonomous driving policies focuses on learning a low-level controller for simple settings. How...
