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Interpretable Motion Planner for Urban Driving via Hierarchical Imitation Learning
Mar 24, 2023
Learning-based approaches have achieved impressive performance for autonomous driving and an increasing number of data-driven works are being studied in the decision-making and planning module. However, the reliability and the stability of the neural network is still full of challenges. In this paper, we introduce a hierarchical imitation method including a high-level grid-based behavior planner and a low-level trajectory planner, which is not only an individual data-driven driving policy and can also be easily embedded into the rule-based architecture. We evaluate our method both in closed-loop simulation and real world driving, and demonstrate the neural network planner has outstanding performance in complex urban autonomous driving scenarios.
A Graph Traversal Based Approach to Answer Non-Aggregation Questions Over DBpedia
Aug 16, 2018
We present a question answering system over DBpedia, filling the gap between user information needs expressed in natural language and a structured query interface expressed in SPARQL over the underlying knowledge base (KB). Given the KB, our goal is to comprehend a natural language query and provide corresponding accurate answers. Focusing on solving the non-aggregation questions, in this paper, we construct a subgraph of the knowledge base from the detected entities and propose a graph traversal method to solve both the semantic item mapping problem and the disambiguation problem in a joint way. Compared with existing work, we simplify the process of query intention understanding and pay more attention to the answer path ranking. We evaluate our method on a non-aggregation question dataset and further on a complete dataset. Experimental results show that our method achieves best performance compared with several state-of-the-art systems.