Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Uncertainty Quantification with Statistical Guarantees in End-to-End
  Autonomous Driving Control   Deep neural network controllers for autonomous driving have recently
benefited from significant performance improvements, and have begun deployment
in the real world. Prior to their widespread adoption, safety guarantees are
needed on the controller behaviour that properly take account of the
uncertainty within the model as well as sensor noise. Bayesian neural networks,
which assume a prior over the weights, have been shown capable of producing
such uncertainty measures, but properties surrounding their safety have not yet
been quantified for use in autonomous driving scenarios. In this paper, we
develop a framework based on a state-of-the-art simulator for evaluating
end-to-end Bayesian controllers. In addition to computing pointwise uncertainty
measures that can be computed in real time and with statistical guarantees, we
also provide a method for estimating the probability that, given a scenario,
the controller keeps the car safe within a finite horizon. We experimentally
evaluate the quality of uncertainty computation by several Bayesian inference
methods in different scenarios and show how the uncertainty measures can be
combined and calibrated for use in collision avoidance. Our results suggest
that uncertainty estimates can greatly aid decision making in autonomous
driving.

2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
23
The categories of this paper are: solv-int
35
The categories of this paper are: mtrl-th
19
The categories of this paper are: eess
15
The categories of this paper are: nucl-ex
36
The categories of this paper are: cmp-lg
14
The categories of this paper are: math-ph
4
The categories of this paper are: cond-mat
25
The categories of this paper are: patt-sol
18
The categories of this paper are: econ
0
The categories of this paper are: hep-ph
5
The categories of this paper are: gr-qc
22
The categories of this paper are: chao-dyn
28
The categories of this paper are: alg-geom
29
The categories of this paper are: funct-an