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arXiv · 1904.12738

Self Training Autonomous Driving Agent

Shashank Kotyan·Danilo Vasconcellos Vargas·Venkanna U
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Abstract

Intrinsically, driving is a Markov Decision Process which suits well the reinforcement learning paradigm. In this paper, we propose a novel agent which learns to drive a vehicle without any human assistance. We use the concept of reinforcement learning and evolutionary strategies to train our agent in a 2D simulation environment. Our model's architecture goes beyond the World Model's by introducing difference images in the auto encoder. This novel involvement of difference images in the auto-encoder gives better representation of the latent space with respect to the motion of vehicle and helps an autonomous agent to learn more efficiently how to drive a vehicle. Results show that our method requires fewer (96% less) total agents, (87.5% less) agents per generations, (70% less) generations and (90% less) rollouts than the original architecture while achieving the same accuracy of the original.

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Shashank Kotyan, Danilo Vasconcellos Vargas, Venkanna U. 2019-04-26. Self Training Autonomous Driving Agent. https://arxiv.org/abs/1904.12738

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