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End-to-End Driving Via Conditional Imitation Learning
Open accessAbstract
Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands.
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“In this era, IL using real-world demonstration data has become one of the most popular and robust control algorithms in research and industry [59,60].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [60]
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Metadata
- Authors
- Codevilla, F., Muller, M., Lopez, A., Koltun, V., & Dosovitskiy, A.
- Affiliations
- Universitat Autònoma de Barcelona (ES)
- King Abdullah University of Science and Technology (SA)
- Intel (United States) (US)
- Venue
- 2018 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2018-05
- Pages
- 4693-4700
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2760878839
- Cited by
- 129
- References
- 41
- Citations by year
- 2025: 3 · 2024: 9 · 2023: 11 · 2022: 18 · 2021: 29 · 2020: 22 · 2019: 23 · 2018: 10
- FWCI
- 21.53
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- King Abdullah University of Science and Technology Repository (King Abdullah University of Science and Technology) (submittedVersion)
- arXiv (Cornell University)
- Funders
- Centres de Recerca de Catalunya
- Generalitat de Catalunya
- Topics
- Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
- Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
- Physical Sciences › Computer Science › Artificial Intelligence › Domain Adaptation and Few-Shot Learning
- Keywords
- end-to-end driving, vision-based driving, autonomous vehicles, sensorimotor coordination
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