Python Deep Learning - Second Edition

Driving policy with ChauffeurNet

In this section, we'll discuss a recent paper called ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst (https://arxiv.org/abs/1812.03079). It was released in December 2018 by Waymo, one of the leaders in the AV space. The following are some of the properties of the ChauffeurNet model:

• It is a combination of two interconnected networks. The first is a CNN called FeatureNet, which extracts features from the environment. These features are fed as inputs to a second, recurrent network called AgentRNN, which them to determine the driving policy.
• It uses imitation supervised learning similarly to the algorithms we described in the Imitation driving policy section. The training set ...