Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fully End-to-end Autonomous Driving with Semantic Depth Cloud Mapping
  and Multi-Agent   Focusing on the task of point-to-point navigation for an autonomous driving
vehicle, we propose a novel deep learning model trained with end-to-end and
multi-task learning manners to perform both perception and control tasks
simultaneously. The model is used to drive the ego vehicle safely by following
a sequence of routes defined by the global planner. The perception part of the
model is used to encode high-dimensional observation data provided by an RGBD
camera while performing semantic segmentation, semantic depth cloud (SDC)
mapping, and traffic light state and stop sign prediction. Then, the control
part decodes the encoded features along with additional information provided by
GPS and speedometer to predict waypoints that come with a latent feature space.
Furthermore, two agents are employed to process these outputs and make a
control policy that determines the level of steering, throttle, and brake as
the final action. The model is evaluated on CARLA simulator with various
scenarios made of normal-adversarial situations and different weathers to mimic
real-world conditions. In addition, we do a comparative study with some recent
models to justify the performance in multiple aspects of driving. Moreover, we
also conduct an ablation study on SDC mapping and multi-agent to understand
their roles and behavior. As a result, our model achieves the highest driving
score even with fewer parameters and computation load. To support future
studies, we share our codes at
https://github.com/oskarnatan/end-to-end-driving.

27
The categories of this paper are: comp-gas
31
The categories of this paper are: ao-sci
34
The categories of this paper are: chem-ph
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
2
The categories of this paper are: math
29
The categories of this paper are: funct-an
18
The categories of this paper are: econ
0
The categories of this paper are: hep-ph
13
The categories of this paper are: quant-ph
10
The categories of this paper are: q-bio
21
The categories of this paper are: adap-org
22
The categories of this paper are: chao-dyn
25
The categories of this paper are: patt-sol
3
The categories of this paper are: physics