Deep Imitation Learning for Autonomous Driving in Generic Urban Scenarios with Enhanced Safety The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation learning we only need to collect data and the computer will learn and improve the driving policy automatically. However, existing imitation learning methods for autonomous driving are hardly performing well for complex urban scenarios. Moreover, the safety is not guaranteed when we use a deep neural network policy. In this paper, we proposed a framework to learn the driving policy in urban scenarios efficiently given offline connected driving data, with a safety controller incorporated to guarantee safety at test time. The experiments show that our method can achieve high performance in realistic simulations of urban driving scenarios.

Visualbased Autonomous Driving Deployment from a Stochastic and Uncertaintyaware Perspective Endtoend visualbased imitation learning has been widely applied in autonomous driving. When deploying the trained visualbased driving policy, a deterministic command is usually directly applied without considering the uncertainty of the input data. Such kind of policies may bring dramatical damage when applied in the real world. In this paper, we follow the recent realtosim pipeline by translating the testing world image back to the training domain when using the trained policy. In the translating process, a stochastic generator is used to generate various images stylized under the training domain randomly or directionally. Based on those translated images, the trained uncertaintyaware imitation learning policy would output both the predicted action and the data uncertainty motivated by the aleatoric loss function. Through the uncertaintyaware imitation learning policy, we can easily choose the safest one with the lowest uncertainty among the generated images. Experiments in the Carla navigation benchmark show that our strategy outperforms previous methods, especially in dynamic environments.