Perception as prediction using general value functions in autonomous driving applications We propose and demonstrate a framework called perception as prediction for autonomous driving that uses general value functions (GVFs) to learn predictions. Perception as prediction learns datadriven predictions relating to the impact of actions on the agentu0027s perception of the world. It also provides a datadriven approach to predict the impact of the anticipated behavior of other agents on the world without explicitly learning their policy or intentions. We demonstrate perception as prediction by learning to predict an agentu0027s front safety and rear safety with GVFs, which encapsulate anticipation of the behavior of the vehicle in front and in the rear, respectively. The safety predictions are learned through random interactions in a simulated environment containing other agents. We show that these predictions can be used to produce similar control behavior to an LQRbased controller in an adaptive cruise control problem as well as provide advanced warning when the vehicle behind is approaching dangerously. The predictions are compact policybased predictions that support prediction of the long term impact on safety when following a given policy. We analyze two controllers that use the learned predictions in a racing simulator to understand the value of the predictions and demonstrate their use in the realworld on a Clearpath Jackal robot and an autonomous vehicle platform.

Behavior Planning of Autonomous Cars with Social Perception Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other road participants, or from unknown social behavior in a new area. To safely and efficiently drive in the presence of these uncertainties, the decisionmaking and planning modules of autonomous cars should intelligently utilize all available information and appropriately tackle the uncertainties so that proper driving strategies can be generated. In this paper, we propose a social perception scheme which treats all road participants as distributed sensors in a sensor network. By observing the individual behaviors as well as the group behaviors, uncertainties of the three types can be updated uniformly in a belief space. The updated beliefs from the social perception are then explicitly incorporated into a probabilistic planning framework based on Model Predictive Control (MPC). The cost function of the MPC is learned via inverse reinforcement learning (IRL). Such an integrated probabilistic planning module with socially enhanced perception enables the autonomous vehicles to generate behaviors which are defensive but not overly conservative, and socially compatible. The effectiveness of the proposed framework is verified in simulation on an representative scenario with sensor occlusions.