Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fast and Real-time End to End Control in Autonomous Racing Cars Through
  Representation Learning   The challenges presented in an autonomous racing situation are distinct from
those faced in regular autonomous driving and require faster end-to-end
algorithms and consideration of a longer horizon in determining optimal current
actions keeping in mind upcoming maneuvers and situations. In this paper, we
propose an end-to-end method for autonomous racing that takes in as inputs
video information from an onboard camera and determines final steering and
throttle control actions. We use the following split to construct such a method
(1) learning a low dimensional representation of the scene, (2) pre-generating
the optimal trajectory for the given scene, and (3) tracking the predicted
trajectory using a classical control method. In learning a low-dimensional
representation of the scene, we use intermediate representations with a novel
unsupervised trajectory planner to generate expert trajectories, and hence
utilize them to directly predict race lines from a given front-facing input
image. Thus, the proposed algorithm employs the best of two worlds - the
robustness of learning-based approaches to perception and the accuracy of
optimization-based approaches for trajectory generation in an end-to-end
learning-based framework. We deploy and demonstrate our framework on CARLA, a
photorealistic simulator for testing self-driving cars in realistic
environments.

30
The categories of this paper are: q-alg
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci
8
The categories of this paper are: hep-ex
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
12
The categories of this paper are: nucl-th
29
The categories of this paper are: funct-an
36
The categories of this paper are: cmp-lg
26
The categories of this paper are: bayes-an
28
The categories of this paper are: alg-geom
10
The categories of this paper are: q-bio
6
The categories of this paper are: astro-ph
22
The categories of this paper are: chao-dyn
2
The categories of this paper are: math
27
The categories of this paper are: comp-gas