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- W4386876191 abstract "We report on a study that employs an in-house developed simulation infrastructure to accomplish zero shot policy transferability for a control policy associated with a scale autonomous vehicle. We focus on implementing policies that require no real world data to be trained (Zero-Shot Transfer), and are developed in-house as opposed to being validated by previous works. We do this by implementing a Neural Network (NN) controller that is trained only on a family of circular reference trajectories. The sensors used are RTK-GPS and IMU, the latter for providing heading. The NN controller is trained using either a human driver (via human in the loop simulation), or a Model Predictive Control (MPC) strategy. We demonstrate these two approaches in conjunction with two operation scenarios: the vehicle follows a waypoint-defined trajectory at constant speed; and the vehicle follows a speed profile that changes along the vehicle's waypoint-defined trajectory. The primary contribution of this work is the demonstration of Zero-Shot Transfer in conjunction with a novel feed-forward NN controller trained using a general purpose, in-house developed simulation platform." @default.
- W4386876191 created "2023-09-20" @default.
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- W4386876191 date "2023-09-18" @default.
- W4386876191 modified "2023-09-27" @default.
- W4386876191 title "Zero-Shot Policy Transferability for the Control of a Scale Autonomous Vehicle" @default.
- W4386876191 doi "https://doi.org/10.48550/arxiv.2309.09870" @default.
- W4386876191 hasPublicationYear "2023" @default.
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