Experiments in Autonomous Driving Through Imitation Learning
Michael Muratov, Abdulwasay Mehar, Wan Song Lee, Michael Szpakowicz, Ose Edmond Umolu, Joshua Mazariegos Bobadilla, Alihusein Kuwajerwala · arXiv (Cornell University) · 2020
This report demonstrates several methods used to make a self-driving vehicle using a supervised learning algorithm and a forward-facing RGBD camera. The project originally involved research in creating an adversarial attack on the vehicle's model, but due to difficulties with the initial training of the car, the plans were discarded in favor of completing the imitation learning portion of the project. Many approaches were explored, but due to challenges introduced by an unbalanced data set, the approaches had limited effectiveness.