ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst
Mayank Bansal, Alex Krizhevsky, Abhijit Ogale
[arXiv]
The results on this page depict the ChauffeurNet agent driving in a closed-loop control environment. The teal path depicts the input route, yellow boxes with the faded trail are the positions of the dynamic objects in the scene over the past 1 second, green box is the agent, blue dots are the agent’s past positions and green dots are the predicted future positions which are used by the controller to drive the agent forward.
The results on this page depict the ChauffeurNet agent driving in a closed-loop control environment. The teal path depicts the input route, yellow boxes with the faded trail are the positions of the dynamic objects in the scene over the past 1 second, green box is the agent, blue dots are the agent’s past positions and green dots are the predicted future positions which are used by the controller to drive the agent forward.
Input Ablation Test Results
Input Ablation Test Results
With Stop Signs Rendered
With Stop Signs Rendered
No Stop Signs Rendered
No Stop Signs Rendered
With Perception Boxes Rendered
With Perception Boxes Rendered
No Perception Boxes Rendered
No Perception Boxes Rendered
Model Ablation Test Results
Model Ablation Test Results
Nudging around a Parked Car
Nudging around a Parked Car
M0 = Imitation with Past Dropout
M1 = M0 + Traj Perturbation
M2 = M1 + Environment Losses
M4 = M2 + Imitation Dropout
Recovering from a Trajectory Perturbation
Recovering from a Trajectory Perturbation
M0 = Imitation with Past Dropout
M1 = M0 + Traj Perturbation
M2 = M1 + Environment Losses
M4 = M2 + Imitation Dropout
Slowing down for a Slow Car
Slowing down for a Slow Car
M0 = Imitation with Past Dropout
M1 = M0 + Traj Perturbation
M2 = M1 + Environment Losses
M4 = M2 + Imitation Dropout
Real World Driving with model M4
Real World Driving with model M4
Lane Curve Following
Lane Curve Following
Stop Sign & Turn
Stop Sign & Turn
Stop Sign
Stop Sign
Stop Sign & Turn
Stop Sign & Turn
Closed-loop Driving with model M4 on Logged Data in Simulation
Closed-loop Driving with model M4 on Logged Data in Simulation
Stop Signs and Narrow Streets with Parked Vehicles
Stop Signs and Narrow Streets with Parked Vehicles
Traffic Lights
Traffic Lights
Stop-and-Go behind other vehicles
Stop-and-Go behind other vehicles
Trajectory Prediction for other dynamic objects on Logged Data
Trajectory Prediction for other dynamic objects on Logged Data
The red trails indicate the past trajectories of the dynamic objects in the scene. The green trails indicate the predicted trajectories, 2 seconds into the future, for each object.
The red trails indicate the past trajectories of the dynamic objects in the scene. The green trails indicate the predicted trajectories, 2 seconds into the future, for each object.
