ICRA 2021poster52 citations
Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving
Bob Wei, Mengye Ren, Wenyuan Zeng, Ming Liang, Bin Yang, Raquel Urtasun
Abstract
In this paper, we propose an end-to-end self-driving network featuring a sparse attention module that learns to automatically attend to important regions of the input. The attention module specifically targets motion planning, whereas prior literature only applied attention in perception tasks. Learning an attention mask directly targeted for motion planning significantly improves the planner safety by performing more focused computation. Furthermore, visualizing the attention improves interpretability of end-to-end self-driving.
BibTeX
@inproceedings{icra2021_perceiveattendan,
title = {Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving},
author = {Bob Wei and Mengye Ren and Wenyuan Zeng and Ming Liang and Bin Yang and Raquel Urtasun},
booktitle = {ICRA 2021},
year = {2021}
}