Nicolas Griffiths — accepted AI-conference papers

2022

Model-Based Imitation Learning for Urban Driving

Anthony Hu, Gianluca Corrado, Nicolas Griffiths, Zachary Murez, Corina Gurau, Hudson Yeo +3

NeurIPS 2022accept

An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for autonomous driving. Our method leverages 3D geometry as an…

Cited by 156 Source ↗PDF ↗code ↗Scholar ↗

2020

Urban Driving with Conditional Imitation Learning

Jeffrey Hawke, Richard Shen, Corina Gurau, Siddharth Sharma, Daniele Reda, Nikolay Nikolov +5

ICRA 2020poster

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning (IL) for autonomous driving with a number of limitations. Examp…

Cited by 198 Source ↗Scholar ↗