Action-Based Representation Learning for Autonomous Driving [article]

Yi Xiao, Felipe Codevilla, Christopher Pal, Antonio M. Lopez
2020 arXiv   pre-print
Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly into driving actions are problematic in terms of interpretability, and typically have significant difficulty dealing with spurious correlations. Alternatively, we propose to use this kind of action-based driving data for learning representations. Our
more » ... s show that an affordance-based driving model pre-trained with this approach can leverage a relatively small amount of weakly annotated imagery and outperform pure end-to-end driving models, while being more interpretable. Further, we demonstrate how this strategy outperforms previous methods based on learning inverse dynamics models as well as other methods based on heavy human supervision (ImageNet).
arXiv:2008.09417v2 fatcat:tqcvaaoswjbfrie63emjdidnpq