Feudal steering: Hierarchical learning for steering angle prediction

Faith Johnson, Kristin Dana

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the challenge of automated steering angle prediction for self driving cars using egocentric road images. In this work, we explore the use of feudal networks, used in hierarchical reinforcement learning (HRL), to devise a vehicle agent to predict steering angles from first person, dash-cam images of the Udacity driving dataset. Our method, Feudal Steering, is inspired by recent work in HRL consisting of a manager network and a worker network that operate on different temporal scales and have different goals. The manager works at a temporal scale that is relatively coarse compared to the worker and has a higher level, task-oriented goal space. Using feudal learning to divide the task into manager and worker sub-networks provides more accurate and robust prediction. Temporal abstraction in driving allows more complex primitives than the steering angle at a single time instance. Composite actions comprise a subroutine or skill that can be re-used throughout the driving sequence. The associated subroutine id is the manager network's goal, so that the manager seeks to succeed at the high level task (e.g. a sharp right turn, a slight right turn, moving straight in traffic, or moving straight unencumbered by traffic). The steering angle at a particular time instance is the worker network output which is regulated by the manager's high level task. We demonstrate state-of-The art steering angle prediction results on the Udacity dataset.

Original languageEnglish (US)
Title of host publicationProceedings - 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2020
PublisherIEEE Computer Society
Pages4316-4325
Number of pages10
ISBN (Electronic)9781728193601
DOIs
StatePublished - Jun 2020
Event2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2020 - Virtual, Online, United States
Duration: Jun 14 2020Jun 19 2020

Publication series

NameIEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
Volume2020-June
ISSN (Print)2160-7508
ISSN (Electronic)2160-7516

Conference

Conference2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2020
Country/TerritoryUnited States
CityVirtual, Online
Period6/14/206/19/20

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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