Learning End-to-end Multimodal Sensor Policies for Autonomous Navigation

Guan-Horng Liu; Avinash Siravuru; Sai Prabhakar; Manuela Veloso; George Kantor

CoRL 20170 citations

Learning End-to-end Multimodal Sensor Policies for Autonomous Navigation

Guan-Horng Liu, Avinash Siravuru, Sai Prabhakar, Manuela Veloso, George Kantor

Abstract

We proposed a multimodal end-to-end policy based on deep reinforcement learning (DRL) that leverages sensor fusion to reduced performance drops in noisy environment from 50% to 10% compared with the baseline and makes the policy functional even in the face of partial sensor failure by using a novel stochastic technique called Sensor Dropout to reduce sensitivity to any sensor subset, and a new auxiliary loss on policy network along with standard DRL loss that reduces the action variations.

BibTeX

@inproceedings{corl2017_learningendtoend,
  title = {Learning End-to-end Multimodal Sensor Policies for Autonomous Navigation},
  author = {Guan-Horng Liu and Avinash Siravuru and Sai Prabhakar and Manuela Veloso and George Kantor},
  booktitle = {CoRL 2017},
  year = {2017}
}