Learning to Steer on Winding Tracks Using Semi-Parametric Control Policies

The following results show steering behaviors that were learned using our semi-parametric control policy representation. The vehicles controlled include a car, single-trailer truck, and double-trailer truck. Of particular interest are the backwards-driving single and double-trailer trucks given that the trailer will tend to jack-knife without corrective action. The Variable Width Track video shows the ability of the policy to generalize to a track of width different from that which was used for training.  More details can be found in our ICRA 2005 paper and my MSc thesis.

Click on the images or links below to view videos.


 

Backward-Driving

Car backing up with obstacles. Truck with trailer backing up. Two-trailer truck backing up. Truck backing up on tracks of varing width.
Car - with obstacles(2.2 Mb) 1-Trailer Truck - variable track(4.1 Mb) 2-Trailer Truck (1.7 Mb) Variable Width Track(.wmv)(2.1 Mb)

 


 

Forward-Driving

Car on wide track. Truck with trailer on track.
Car on Wide Track (2.0 Mb) 1-Trailer Truck (3.5 Mb)