A modular stack of a CNN localizer and a Stanley controller is trained end-to-end, and the upstream localizer learns to reduce downstream cross-track error.
Diffstack: A differentiable and modular control stack for autonomous vehicles,
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MIND-Stack: Modular, Interpretable, End-to-End Differentiability for Autonomous Navigation
A modular stack of a CNN localizer and a Stanley controller is trained end-to-end, and the upstream localizer learns to reduce downstream cross-track error.