Visual Input Ablation
Front RGB camera on NGSIM
Disclaimer
Disclaimer
Although 4 cameras + bird's-eye view are visible on the videos, they were not used during training, only front camera
Although 4 cameras + bird's-eye view are visible on the videos, they were not used during training, only front camera
NGSIM
NGSIM
Successful
Successful
success, human-alike 08.07.2020_17:25:30_29_ckpt=04750_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=27_total-reward=1.9.aviHigh speed, smooth transition
High speed, smooth transition
(but sudden turn at the end)
success, slow 28.07.2020_17:25:30_13_ckpt=04750_scenario=NGSIM_LANE_CHANGE_I80_VALIDATION_steps=42_total-reward=1.8.aviEmergency braking
Emergency braking
(stopped for a moment, to avoid collision)
openDD
openDD
Failed
Failed
failed, dead zone 28.07.2020_17:25:30_4_ckpt=04750_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=17_total-reward=-0.30000000000000004.aviDead zone I
Dead zone I
(driving with fingers crossed...)
failed, dead zone 28.07.2020_17:25:30_21_ckpt=04750_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=10_total-reward=-0.5.aviDead zone II
Dead zone II