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arXiv · 2303.04218

Deep Occupancy-Predictive Representations for Autonomous Driving

Eivind Meyer·Lars Frederik Peiss·Matthias Althoff
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Abstract

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work proposes to learn which features are task-relevant. Given its immediate relevance to motion planning, our proposed architecture encodes the probabilistic occupancy map as a proxy for obtaining pre-trained state representations. By leveraging a map-aware graph formulation of the environment, our agent-centric encoder generalizes to arbitrary road networks and traffic situations. We show that our approach significantly improves the downstream performance of a reinforcement learning agent operating in urban traffic environments.

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Eivind Meyer, Lars Frederik Peiss, Matthias Althoff. 2023-03-07. Deep Occupancy-Predictive Representations for Autonomous Driving. https://arxiv.org/abs/2303.04218

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