Simulation-based reinforcement learning for real-world autonomous driving

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic data, with labelled real-world data appearing only in the training of the segmentation network. Using reinforcement learning in simulation and synthetic data is motivated by lowering costs and engineering effort. In real-world experiments we confirm that we achieved successful sim-to-real policy transfer. Based on the extensive evaluation, we analyze how design decisions about perception, control, and training impact the real-world performance

Leakage-Robust Classifier via Mask-Enhanced Training (Student Abstract)

We synthetically add data leakage to well-known image datasets, which results in predictions of convolutional neural networks trained naively on these spoiled datasets becoming wildly inaccurate. We propose a method, dubbed Mask-Enhanced Training, that automatically identifies the possible leakage and makes the classifier robust. The method enables the model to focus on all features needed to solve the task, making its predictions on the original validation set accurate, even if the whole training dataset is spoiled with the leakage