Professional Documents
Culture Documents
²
ª ª
ͻDean Pomerleau's Ph.D.
thesis (1992).
ͻ How ALVINN Works
ͻ Architecture
ͻTraining Procedure
- Performance
ͻ Why ALVINN Works
ͻ Hidden Unit Analysis
ͻ Integrating Multiple
Networks
ͻ Other Applications
ª
ª
30 X 32= 960
961 X 4 + 5 X 30 = 3994
V
tree
road edges
¤
ͻTrain with a Gaussian bump
centered over the desired
steering direction.
ͻTo test: fit a Gaussian to the
network's output vector.
ͻMeasure distance between
Gaussian's peak and human
steering direction.
Orig Þ
smearing
ͻ͞Pure pursuit͟ steering model generates a fairly good
estimate of what the human driver would do.
ͻInitial random weights look
like ͞salt and pepper͟ noise.
ͻDuring training, the hidden
units evolve into a set of
complementary feature
detectors.
V !
"
#
$
ͻThe network tends to
overlearn recently encountered
examples and forget how to
drive in situations encountered
earlier in training.
ͻAfter a long right turn, the
network will be biased toward
turning right, since recent
training data focused on right
turns.
!¤%
%