A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using one convolutional neural network. In this paper, we leverage auxiliary information aside from raw images and design a novel network structure, called Auxiliary Task Network (ATN), to help boost the driving performance while maintaining the advantage of minimal training data and an End-to-End training method. In this network, we introduce human prior knowledge into vehicle navigation by transferring features from image recognition tasks. Image semantic segmentation is applied as an auxiliary task for navigation. We consider temporal information by introducing an LSTM module and optical flow to the network. Finally, we combine vehicle kinematics with a sensor fusion step. We discuss the benefits of our method over state-of-the-art visual navigation methods both in the Udacity simulation environment and on the real-world Comma.ai dataset.
In this paper, we decide to improve learning driving policies by adding auxiliary tasks. The idea of using auxiliary tasks to aid the nominal task is not unprecedented. @cite_22 trained a reinforcement learning algorithm with unsupervised auxiliary tasks. By forecasting pixel changes and predicting rewards, the reinforcement learning algorithm converges faster and to a higher reward. The concept of transfer learning @cite_4 can also be regarded as training the nominal task with auxiliary tasks. The benefit of training with auxiliary tasks can be faster convergence time and better performance.
@cite_4 @cite_22
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Unsupervised representation learning algorithms such as word2vec and ELMo improve the accuracy of many supervised NLP models, mainly because they can take advantage of large amounts of unlabeled text. However, the supervised models only learn from task-specific labeled data during the main training phase. We therefore propose Cross-View Training (CVT), a semi-supervised learning algorithm that improves the representations of a Bi-LSTM sentence encoder using a mix of labeled and unlabeled data. On labeled examples, standard supervised learning is used. On unlabeled examples, CVT teaches auxiliary prediction modules that see restricted views of the input (e.g., only part of a sentence) to match the predictions of the full model seeing the whole input. Since the auxiliary modules and the full model share intermediate representations, this in turn improves the full model. Moreover, we show that CVT is particularly effective when combined with multi-task learning. We evaluate CVT on five sequence tagging tasks, machine translation, and dependency parsing, achieving state-of-the-art results. We propose Scheduled Auxiliary Control (SAC-X), a new learning paradigm in the context of Reinforcement Learning (RL). SAC-X enables learning of complex behaviors - from scratch - in the presence of multiple sparse reward signals. To this end, the agent is equipped with a set of general auxiliary tasks, that it attempts to learn simultaneously via off-policy RL. The key idea behind our method is that active (learned) scheduling and execution of auxiliary policies allows the agent to efficiently explore its environment - enabling it to excel at sparse reward RL. Our experiments in several challenging robotic manipulation settings demonstrate the power of our approach. Reinforcement learning is considered as a promising direction for driving policy learning. However, training autonomous driving vehicle with reinforcement learning in real environment involves non-affordable trial-and-error. It is more desirable to first train in a virtual environment and then transfer to the real environment. In this paper, we propose a novel realistic translation network to make model trained in virtual environment be workable in real world. The proposed network can convert non-realistic virtual image input into a realistic one with similar scene structure. Given realistic frames as input, driving policy trained by reinforcement learning can nicely adapt to real world driving. Experiments show that our proposed virtual to real (VR) reinforcement learning (RL) works pretty well. To our knowledge, this is the first successful case of driving policy trained by reinforcement learning that can adapt to real world driving data. We show how a deep denoising autoencoder with lateral connections can be used as an auxiliary unsupervised learning task to support supervised learning. The proposed model is trained to minimize simultaneously the sum of supervised and unsupervised cost functions by back-propagation, avoiding the need for layer-wise pretraining. It improves the state of the art significantly in the permutation-invariant MNIST classification task.