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Apprenticeship Learning for Motion Planning with Application to Parking Lot Navigation

Apprenticeship Learning for Motion Planning with Application to Parking Lot Navigation. Presented by: Paul Savickas. Outline. Motivation Background The Problem Methods and Model Results Discussion. Motivation. In 2005: ~6,420,000 Auto Accidents in the US

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Apprenticeship Learning for Motion Planning with Application to Parking Lot Navigation

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  1. Apprenticeship Learning for Motion Planning with Application to Parking Lot Navigation Presented by: Paul Savickas

  2. Outline • Motivation • Background • The Problem • Methods and Model • Results • Discussion

  3. Motivation • In 2005: • ~6,420,000 Auto Accidents in the US • Total financial cost >$230 Billion • Injuries ~2.9 Million • 42,636 Deaths • 115 per day • 1 every 13 minutes • Source: http://www.car-accidents.com/pages/stats.html

  4. Background • DARPA Urban Challenge • Stanford Racing Team • Junior

  5. Stanford’s “Junior” • http://www.youtube.com/watch?v=BSS0MZvoltw&NR=1

  6. The Problem • Motion/Path planning algorithms are complex • Many parameters • Hand tuning required How can we simplify this process?

  7. Methods • Path-Planning and Optimization • Sequence of states • Potential-field terms • Weights

  8. Apprenticeship Learning • Learn parameters from expert demonstration • Useful when no reward function available • Example: Teaching a person to drive

  9. Model • Parameters • Length • Length (Reverse) • Direction Changes • Proximity to Obstacles • Smoothness • Parking Lot Conventions • Lane Conventions

  10. Parameter Tuning Switching Directions Penalize offroad Distance from lane Penalize Switching Follow Directions

  11. Experiment • Human Driver demonstration • “Nice” • “Sloppy” • “Reverse-allowed” • Autonomous Navigation using learned parameters

  12. Results – “Nice”

  13. Results – “Sloppy”

  14. Results – “Reverse-allowed”

  15. Results – Interesting Anomalies

  16. Discussion • How do these results apply to other problems? • Determination of parameters is still an issue. • Why would we want to drive “sloppy”?.. • Where do we go from here?

  17. Video • DARPA Urban Challenge • http://www.youtube.com/watch?v=P0NTV2mbJhA&feature=related • Junior’s Results • http://www.youtube.com/watch?v=xcNFUi06fh8

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