End to End Learning in Autonomous Driving Systems

Convolutional neural networks have advanced visual perception significantly in recent years. Two major ingredients that enable such a success are the composition of simple modules into a complex network and the end to end optimization. However, such success has not yet revolutionized robotics as much as vision, even if robotics suffer from similar problems as traditional computer vision, i.e. imperfectness of the manual pipeline design of the system. This thesis investigates using end-to-end learning for the autonomous driving system, a concrete robotic application. End to end learning can produce reasonable driving behaviors, even in the complex urban driving scenarios. Representation learning in end-to-end driving models is crucial, and auxiliary vision tasks such as semantic segmentation can help to form a more informative driving representation especially when training data is limited. Naive convolutional neural networks are usually only capable of doing reactive control and can not involve complex reasoning in a particular scenario. This thesis also studies how to handle scene conditioned driving behavior, which goes beyond the capability of reactive control. Alongside the end-to-end structure, learning methods also play a critical role. Imitation learning methods will acquire meaningful behaviors but usually, the robot can not master the skill. Reinforcement learning, on the contrary, either barely learns anything if the environment is too complex, or it can master the skill otherwise. To get the best of both worlds, this thesis proposes an algorithmically unified method to learn from both demonstration data and the environment

The Trail, 1995-10-12

https://soundideas.pugetsound.edu/thetrail_all/2674/thumbnail.jp

Mirror - Vol. 39, No. 22 - March 19, 2014

The Mirror (sometimes called the Fairfield Mirror) is the official student newspaper of Fairfield University, and is published weekly during the academic year (September - May). It runs from 1977 - the present; current issues are available online.https://digitalcommons.fairfield.edu/archives-mirror/1889/thumbnail.jp

The Montclarion, February 03, 2000

Student Newspaper of Montclair State Universityhttps://digitalcommons.montclair.edu/montclarion/1863/thumbnail.jp

Harper\u27s Weekly.

Saturday, January 16, 1864 issue of the Harper\u27s Weekly. Featuring Averill’s Raid in the American Civil War. With many lithographs. Cover: Averill\u27s Raid. Centerfold lithograph: An Advance of the Army of the Potomac - Sketched by Alfred R. Waud. Other lithographic illustrations include: Major-General Andrew A. Humphreys; General William W. Averill; the suck in the Tennessee River; the wreck of the Aquila at San Francisco; the ironclad screw frigate Re d\u27Italia; rebel screw steamer Rappahannock; The late most reverend John Hughes, D.C., Archbishop of New York – Photographed by Brady; The rebel screw steamer Rappahannock lying at Calais, France; Daboll\u27s fog trumpet in the British Channel; Rebel battery and obstructions in Charleston Harbor.https://stars.library.ucf.edu/carolmundy-text/1004/thumbnail.jp

Casco Bay Weekly : 4 June 1998

https://digitalcommons.portlandlibrary.com/cbw_1998/1024/thumbnail.jp

Harper\u27s Weekly.

Saturday, January 16, 1864 issue of the Harper\u27s Weekly. Featuring Averill’s Raid in the American Civil War. With many lithographs. Cover: Averill\u27s Raid. Centerfold lithograph: An Advance of the Army of the Potomac - Sketched by Alfred R. Waud. Other lithographic illustrations include: Major-General Andrew A. Humphreys; General William W. Averill; the suck in the Tennessee River; the wreck of the Aquila at San Francisco; the ironclad screw frigate Re d\u27Italia; rebel screw steamer Rappahannock; The late most reverend John Hughes, D.C., Archbishop of New York – Photographed by Brady; The rebel screw steamer Rappahannock lying at Calais, France; Daboll\u27s fog trumpet in the British Channel; Rebel battery and obstructions in Charleston Harbor.https://stars.library.ucf.edu/civilwar-text/1011/thumbnail.jp