Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradients

• URL: http://arxiv.org/abs/2109.13333v1
• Date: Mon, 27 Sep 2021 20:19:18 GMT
• Title: Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradients
• Authors: Oliver Scheel, Luca Bergamini, Maciej Wo{\l}czyk, B{\l}a\.zej Osi\'nski, Peter Ondruska
• Abstract summary: We present an offline policy method for learning imitative policies for complex urban driving from a large corpus of real-world demonstrations. This is achieved by building a differentiable data-driven simulator on top of perception outputs and high-fidelity HD maps of the area. We train our proposed method on 100 hours of expert demonstrations on urban roads and show that it learns complex driving policies that generalize well and can perform a variety of driving maneuvers.
• Score: 7.58363583085932
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In this work we are the first to present an offline policy gradient method for learning imitative policies for complex urban driving from a large corpus of real-world demonstrations. This is achieved by building a differentiable data-driven simulator on top of perception outputs and high-fidelity HD maps of the area. It allows us to synthesize new driving experiences from existing demonstrations using mid-level representations. Using this simulator we then train a policy network in closed-loop employing policy gradients. We train our proposed method on 100 hours of expert demonstrations on urban roads and show that it learns complex driving policies that generalize well and can perform a variety of driving maneuvers. We demonstrate this in simulation as well as deploy our model to self-driving vehicles in the real-world. Our method outperforms previously demonstrated state-of-the-art for urban driving scenarios -- all this without the need for complex state perturbations or collecting additional on-policy data during training. We make code and data publicly available.

Related papers

• TrafficBots: Towards World Models for Autonomous Driving Simulation and Motion Prediction [149.5716746789134]
  We show data-driven traffic simulation can be formulated as a world model. We present TrafficBots, a multi-agent policy built upon motion prediction and end-to-end driving. Experiments on the open motion dataset show TrafficBots can simulate realistic multi-agent behaviors.
  arXiv  Detail & Related papers  (2023-03-07T18:28:41Z)
• Policy Pre-training for End-to-end Autonomous Driving via Self-supervised Geometric Modeling [96.31941517446859]
  We propose PPGeo (Policy Pre-training via Geometric modeling), an intuitive and straightforward fully self-supervised framework curated for the policy pretraining in visuomotor driving. We aim at learning policy representations as a powerful abstraction by modeling 3D geometric scenes on large-scale unlabeled and uncalibrated YouTube driving videos. In the first stage, the geometric modeling framework generates pose and depth predictions simultaneously, with two consecutive frames as input. In the second stage, the visual encoder learns driving policy representation by predicting the future ego-motion and optimizing with the photometric error based on current visual observation only.
  arXiv  Detail & Related papers  (2023-01-03T08:52:49Z)
• Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data [56.49494318285391]
  We present Sim2Seg, a re-imagining of RCAN that crosses the visual reality gap for off-road autonomous driving. This is done by learning to translate randomized simulation images into simulated segmentation and depth maps. This allows us to train an end-to-end RL policy in simulation, and directly deploy in the real-world.
  arXiv  Detail & Related papers  (2022-10-25T17:50:36Z)
• DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality [64.51295032956118]
  We train a policy that can perform robust dexterous manipulation on an anthropomorphic robot hand. Our work reaffirms the possibilities of sim-to-real transfer for dexterous manipulation in diverse kinds of hardware and simulator setups.
  arXiv  Detail & Related papers  (2022-10-25T01:51:36Z)
• Learning Interactive Driving Policies via Data-driven Simulation [125.97811179463542]
  Data-driven simulators promise high data-efficiency for driving policy learning. Small underlying datasets often lack interesting and challenging edge cases for learning interactive driving. We propose a simulation method that uses in-painted ado vehicles for learning robust driving policies.
  arXiv  Detail & Related papers  (2021-11-23T20:14:02Z)
• TrafficSim: Learning to Simulate Realistic Multi-Agent Behaviors [74.67698916175614]
  We propose TrafficSim, a multi-agent behavior model for realistic traffic simulation. In particular, we leverage an implicit latent variable model to parameterize a joint actor policy. We show TrafficSim generates significantly more realistic and diverse traffic scenarios as compared to a diverse set of baselines.
  arXiv  Detail & Related papers  (2021-01-17T00:29:30Z)
• CARLA Real Traffic Scenarios -- novel training ground and benchmark for autonomous driving [8.287331387095545]
  This work introduces interactive traffic scenarios in the CARLA simulator, which are based on real-world traffic. We concentrate on tactical tasks lasting several seconds, which are especially challenging for current control methods. The CARLA Real Traffic Scenarios (CRTS) is intended to be a training and testing ground for autonomous driving systems.
  arXiv  Detail & Related papers  (2020-12-16T13:20:39Z)
• Interpretable End-to-end Urban Autonomous Driving with Latent Deep Reinforcement Learning [32.97789225998642]
  We propose an interpretable deep reinforcement learning method for end-to-end autonomous driving. A sequential latent environment model is introduced and learned jointly with the reinforcement learning process. Our method is able to provide a better explanation of how the car reasons about the driving environment.
  arXiv  Detail & Related papers  (2020-01-23T18:36:35Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.