Completed
Experiment by Held and Hein
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Classroom Contents
Learning Robust Driving Policies
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- 1 Intro
- 2 Conditional Imitation Learning
- 3 Sunny, light traffic
- 4 Sunny, heavy traffic
- 5 Rain, heavy traffic
- 6 Sunset, heavy traffic
- 7 Inspiration: World Models
- 8 Learning Situational Driving
- 9 Importance of Mixture Model and Task-based Refinement
- 10 Emergent Driving Modes
- 11 Results on CARLA Benchmark
- 12 Results on CARLA NoCrash Benchmark
- 13 Results on AnyWeather Benchmark
- 14 CILRS: Collision, infraction
- 15 LSD: No collision, proper braking
- 16 Formal Definition of Imitation Learning General Imitation Learning
- 17 Challenges of Behavior Cloning
- 18 Experiment by Held and Hein
- 19 Distribution over Driving Actions
- 20 Dagger with Critical States and Replay Buffer
- 21 Evaluation
- 22 Infractions Analysis
- 23 Training Variance
- 24 Qualitative Results
- 25 Summary
