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arXiv · 2502.18760

Learning Autonomy: Off-Road Navigation Enhanced by Human Input

Akhil Nagariya·Dimitar Filev·Srikanth Saripalli·Gaurav Pandey
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Abstract

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel learning-based local planner that addresses these challenges by directly capturing human driving nuances from real-world demonstrations using only a monocular camera. The key features of our planner are its ability to navigate in challenging off-road environments with various terrain types and its fast learning capabilities. By utilizing minimal human demonstration data (5-10 mins), it quickly learns to navigate in a wide array of off-road conditions. The local planner significantly reduces the real world data required to learn human driving preferences. This allows the planner to apply learned behaviors to real-world scenarios without the need for manual fine-tuning, demonstrating quick adjustment and adaptability in off-road autonomous driving technology.

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Akhil Nagariya, Dimitar Filev, Srikanth Saripalli, Gaurav Pandey. 2025-02-26. Learning Autonomy: Off-Road Navigation Enhanced by Human Input. https://arxiv.org/abs/2502.18760

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