Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866913328489562112 |
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| author | Idoko, Simon Sharma, Basant Singh, Arun Kumar |
| author_facet | Idoko, Simon Sharma, Basant Singh, Arun Kumar |
| contents | Sampling trajectories from a distribution followed by ranking them based on a specified cost function is a common approach in autonomous driving. Typically, the sampling distribution is hand-crafted (e.g a Gaussian, or a grid). Recently, there have been efforts towards learning the sampling distribution through generative models such as Conditional Variational Autoencoder (CVAE). However, these approaches fail to capture the multi-modality of the driving behaviour due to the Gaussian latent prior of the CVAE. Thus, in this paper, we re-imagine the distribution learning through vector quantized variational autoencoder (VQ-VAE), whose discrete latent-space is well equipped to capture multi-modal sampling distribution. The VQ-VAE is trained with demonstration data of optimal trajectories. We further propose a differentiable optimization based safety filter to minimally correct the VQVAE sampled trajectories to ensure collision avoidance. We use backpropagation through the optimization layers in a self-supervised learning set-up to learn good initialization and optimal parameters of the safety filter. We perform extensive comparisons with state-of-the-art CVAE-based baseline in dense and aggressive traffic scenarios and show a reduction of up to 12 times in collision-rate while being competitive in driving speeds. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_19461 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization Idoko, Simon Sharma, Basant Singh, Arun Kumar Robotics Sampling trajectories from a distribution followed by ranking them based on a specified cost function is a common approach in autonomous driving. Typically, the sampling distribution is hand-crafted (e.g a Gaussian, or a grid). Recently, there have been efforts towards learning the sampling distribution through generative models such as Conditional Variational Autoencoder (CVAE). However, these approaches fail to capture the multi-modality of the driving behaviour due to the Gaussian latent prior of the CVAE. Thus, in this paper, we re-imagine the distribution learning through vector quantized variational autoencoder (VQ-VAE), whose discrete latent-space is well equipped to capture multi-modal sampling distribution. The VQ-VAE is trained with demonstration data of optimal trajectories. We further propose a differentiable optimization based safety filter to minimally correct the VQVAE sampled trajectories to ensure collision avoidance. We use backpropagation through the optimization layers in a self-supervised learning set-up to learn good initialization and optimal parameters of the safety filter. We perform extensive comparisons with state-of-the-art CVAE-based baseline in dense and aggressive traffic scenarios and show a reduction of up to 12 times in collision-rate while being competitive in driving speeds. |
| title | Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.19461 |