Application of a Brain-Inspired Deep Imitation Learning Algorithm in Autonomous Driving

Acknowledgements This work was was supported by the University of Aberdeen Internal Funding to Pump-Prime Interdisciplinary Research and Impact under grant number SF10206-57Peer reviewedPublisher PD

Activation Function: Key to Cloning from Human Learning to Deep Learning

Maneuvering a steady on-road obstacle at high speed involves taking multiple decisions in split seconds. An inaccurate decision may result in crash. One of the key decision that needs to be taken is can the on-road steady obstacle be surpassed. The model learns to clone the drivers behavior of maneuvering a non-surpass-able obstacle and pass through a surpass-able obstacle. No data with labels of 201C;surpass-able201D; and 201C;non-surpass-able201D; was provided during training. We have development an array of test cases to verify the robustness of CNN models used in autonomous driving. Experimenting between activation functions and dropouts the model achieves an accuracy of 87.33% and run time of 4478 seconds with input of only 4881 images (training + testing). The model is trained for limited on-road steady obstacles. This paper provides a unique method to verify the robustness of CNN models for obstacle mitigation in autonomous vehicles

Towards Behavioural Cloning for Autonomous Driving

This paper proposes an off-policy imitation learning methodology for autonomous driving using a doubly-deep recurrent convolutional architecture that learns compositional representations in both space and time domains. The architecture has been referred to as NAVNet (Navigation Network) and is end-to-end trainable. The recurrent long-term models are directly connected with the visual convolutional models. The models can be trained together to learn both temporal dynamics as well as the convolutional perceptual representations. The approach is non-data driven in nature and the system learns a regression-based mapping function between input images and steering angle. Results presented in this research indicate distinct advantages of the proposed LRCN model over the state-of-the-art deep learning techniques for autonomous navigation