Optimal Autonomous Driving Through Deep Imitation Learning and Neuroevolution

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Conference Proceeding
2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 2019, 2019-October, pp. 1215-1220
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Imitation learning is an efficient paradigm for teaching and controlling intelligent autonomous cars. Obtaining a set of suitable demonstrations to learn an end-to-end policy from raw pixels is a challenging task in imitation learning problems. Deep neural networks have recently shown outstanding results in learning from raw high dimensional data for solving a wide range of real-world applications. The success of deep neural networks depends on finding suitable hyperparameters for constructing network architecture. Besides, designing hand-crafted deep architectures is not an efficient way for achieving the best performance. To address this issue, this paper performs a neuro-evolution method based on genetic algorithm for finding the optimal deep neural networks architecture in terms of hyperparameters. The experimental results show the effectiveness of the proposed approach for training an autonomous vehicle
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