Figure 14
From: Autonomous driving using imitation learning with look ahead point for semi structured environments
Driving results with WeightDAgger when the occupancy grid map contained noise. WeightDAgger did not encounter any problems in this situation. However, the vehicle could not drive smoothly or headed towards obstacles with Tentacle and VVF. (a) Noise from misrecognition; (b, c, and g) Noise by shadow; (d, e) Noise at the road boundary.
