世界モデルから運転を学習する
Learning to Drive from a World Model
実走行データを用いて、再投影シミュレーションと学習済み世界モデルの2手法で運転ポリシーをオンポリシー学習し、閉ループ評価と実車ADASで検証した。
著者: Mitchell Goff, Greg Hogan, George Hotz, Armand du Parc Locmaria, Kacper Raczy, Harald Schäfer, Adeeb Shihadeh, Weixing Zhang, Yassine Yousfi
分類: cs.CV, cs.RO
原文アブストラクト
Most self-driving systems rely on hand-coded perception outputs and engineered driving rules. Learning directly from human driving data with an end-to-end method can allow for a training architecture that is simpler and scales well with compute and data. In this work, we propose an end-to-end training architecture that uses real driving data to train a driving policy in an on-policy simulator. We show two different methods of simulation, one with reprojective simulation and one with a learned world model. We show that both methods can be used to train a policy that learns driving behavior without any hand-coded driving rules. We evaluate the performance of these policies in a closed-loop simulation and when deployed in a real-world advanced driver-assistance system.