Multi-Task Adaptive Gating Network for Trajectory Distilled Control Prediction

Tutkimustuotos: LehtiartikkeliArticleScientificvertaisarvioitu

16 Lataukset (Pure)

Abstrakti

End-to-end autonomous driving is often categorized based on output into trajectory prediction or control prediction. Each type of approach provides benefits in different contexts, resulting in recent studies on how to combine them. However, the current proposals are based on heuristic choices that only partially capture the complexities of varying driving conditions. How to best fuse these sources of information remains an open research question. To address this, we introduce MAGNet, a Multi-Task Adaptive Gating Network for Trajectory Distilled Control Prediction. This framework employs a multi-task learning strategy to combine trajectory and direct control prediction. Our key insight is to design a gating network that learns how to optimally combine the outputs of trajectory and control predictions in each situation. Using the CARLA simulator, we evaluate MAGNet in closed-loop settings with challenging scenarios. Results show that MAGNet outperforms the state-of-the-art on two publicly available CARLA benchmarks, Town05 Long and Longest6.

AlkuperäiskieliEnglanti
Sivut4862-4869
Sivumäärä8
JulkaisuIEEE Robotics and Automation Letters
Vuosikerta9
Numero5
Varhainen verkossa julkaisun päivämäärä5 huhtik. 2024
DOI - pysyväislinkit
TilaJulkaistu - 1 toukok. 2024
OKM-julkaisutyyppiA1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä

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