視覚ベースのエンドツーエンド運転ポリシーにおける安定性アテンションの学習
Learning Stability Attention in Vision-based End-to-end Driving Policies
制御Lyapunov関数にアテンション機構を導入し、視覚入力からのエンドツーエンド運転ポリシーに安定性と環境変化への適応性を持たせる手法を提案し、シミュレータと実車で有効性を示した。
著者: Tsun-Hsuan Wang, Wei Xiao, Makram Chahine, Alexander Amini, Ramin Hasani, Daniela Rus
分類: cs.RO, cs.LG, cs.SY, eess.SY
原文アブストラクト
Modern end-to-end learning systems can learn to explicitly infer control from perception. However, it is difficult to guarantee stability and robustness for these systems since they are often exposed to unstructured, high-dimensional, and complex observation spaces (e.g., autonomous driving from a stream of pixel inputs). We propose to leverage control Lyapunov functions (CLFs) to equip end-to-end vision-based policies with stability properties and introduce stability attention in CLFs (att-CLFs) to tackle environmental changes and improve learning flexibility. We also present an uncertainty propagation technique that is tightly integrated into att-CLFs. We demonstrate the effectiveness of att-CLFs via comparison with classical CLFs, model predictive control, and vanilla end-to-end learning in a photo-realistic simulator and on a real full-scale autonomous vehicle.
