Before revision: Autonomous car racing raises fundamental robotics challenges such as planning minimum-time trajectories under uncertain dynamics and controlling the car at its friction limits . In this project, we consider the task of autonomous car racing in the top-selling car racing game Gran Turismo Sport.
After revision: Autonomous car racing raises fundamental robotics challenges such as planning minimum-time trajectories under uncertain dynamics and controlling the car at the limits of its handling. Besides, the requirement of minimizing the lap time, which is a sparse objective, and the difficulty of collecting training data from human experts have also hindered researchers from directly applying learning-based approaches to solve the problem. In the present work, we propose a learning-based system for autonomous car racing in the top-selling car racing game Gran Turismo Sport.