Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Conditional Affordance Learning for Driving in Urban Environments   Most existing approaches to autonomous driving fall into one of two
categories: modular pipelines, that build an extensive model of the
environment, and imitation learning approaches, that map images directly to
control outputs. A recently proposed third paradigm, direct perception, aims to
combine the advantages of both by using a neural network to learn appropriate
low-dimensional intermediate representations. However, existing direct
perception approaches are restricted to simple highway situations, lacking the
ability to navigate intersections, stop at traffic lights or respect speed
limits. In this work, we propose a direct perception approach which maps video
input to intermediate representations suitable for autonomous navigation in
complex urban environments given high-level directional inputs. Compared to
state-of-the-art reinforcement and conditional imitation learning approaches,
we achieve an improvement of up to 68 % in goal-directed navigation on the
challenging CARLA simulation benchmark. In addition, our approach is the first
to handle traffic lights and speed signs by using image-level labels only, as
well as smooth car-following, resulting in a significant reduction of traffic
accidents in simulation.

29
The categories of this paper are: funct-an
4
The categories of this paper are: cond-mat
9
The categories of this paper are: nlin
26
The categories of this paper are: bayes-an
27
The categories of this paper are: comp-gas
11
The categories of this paper are: hep-lat
20
The categories of this paper are: acc-phys
24
The categories of this paper are: dg-ga
16
The categories of this paper are: stat
6
The categories of this paper are: astro-ph
36
The categories of this paper are: cmp-lg
25
The categories of this paper are: patt-sol
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
13
The categories of this paper are: quant-ph
0
The categories of this paper are: hep-ph