Query-Efficient Imitation Learning for End-to-End Autonomous Driving

20 May 2016Jiakai Zhang • Kyunghyun Cho

A policy function trained in this way however is known to suffer from unexpected behaviours due to the mismatch between the states reachable by the reference policy and trained policy functions. In this paper, we propose an extension of the DAgger, called SafeDAgger, that is query-efficient and more suitable for end-to-end autonomous driving. We evaluate the proposed SafeDAgger in a car racing simulator and show that it indeed requires less queries to a reference policy.

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