| 1. Identity statement | ||||
| Reference Type | Conference Paper (Conference Proceedings) | |||
| Site | sibgrapi.sid.inpe.br | |||
| Holder Code | ibi 8JMKD3MGPEW34M/46T9EHH | |||
| Identifier | 8JMKD3MGPEW34M/45D3C8H | |||
| Repository | sid.inpe.br/sibgrapi/2021/09.07.06.25 | |||
| Last Update | 2021:09.07.06.25.04 (UTC) administrator | |||
| Metadata Repository | sid.inpe.br/sibgrapi/2021/09.07.06.25.04 | |||
| Metadata Last Update | 2022:06.14.00.00.33 (UTC) administrator | |||
| DOI | 10.1109/SIBGRAPI54419.2021.00043 | |||
| Citation Key | Flores-BenitesMugrMora:2021:SpFeAt | |||
| Title | TVAnet: a spatial and feature-based attention model for self-driving car  | |||
| Format | On-line | |||
| Year | 2021 | |||
| Access Date | 2025, Mar. 15 | |||
| Number of Files | 1 | |||
| Size | 1024 KiB | |||
| 2. Context | ||||
| Author | 1 Flores-Benites, Victor 2 Mugruza-Vassallo, Carlos Andrés 3 Mora-Colque, Rensso Victor Hugo | |||
| Affiliation | 1 Universidad Católica San Pablo 2 Universidad Nacional Tecnológica de Lima Sur 3 Universidad Católica San Pablo | |||
| Editor | Paiva, Afonso Menotti, David Baranoski, Gladimir V. G. Proença, Hugo Pedro Junior, Antonio Lopes Apolinario Papa, João Paulo Pagliosa, Paulo dos Santos, Thiago Oliveira e Sá, Asla Medeiros da Silveira, Thiago Lopes Trugillo Brazil, Emilio Vital Ponti, Moacir A. Fernandes, Leandro A. F. Avila, Sandra | |||
| e-Mail Address | victor.flores@ucsp.edu.pe | |||
| Conference Name | Conference on Graphics, Patterns and Images, 34 (SIBGRAPI) | |||
| Conference Location | Gramado, RS, Brazil (virtual) | |||
| Date | 18-22 Oct. 2021 | |||
| Publisher | IEEE Computer Society | |||
| Publisher City | Los Alamitos | |||
| Book Title | Proceedings | |||
| Tertiary Type | Full Paper | |||
| History (UTC) | 2021-10-04 19:18:17 :: victor.flores@ucsp.edu.pe -> administrator :: 2021 2022-03-02 00:54:16 :: administrator -> menottid@gmail.com :: 2021 2022-03-02 13:24:51 :: menottid@gmail.com -> administrator :: 2021 2022-06-14 00:00:33 :: administrator -> :: 2021 | |||
| 3. Content and structure | ||||
| Is the master or a copy? | is the master | |||
| Content Stage | completed | |||
| Transferable | 1 | |||
| Version Type | finaldraft | |||
| Keywords | visual attention self-driving spatial attention feature-based attention | |||
| Abstract | End-to-end methods facilitate the development of self-driving models by employing a single network that learns the human driving style from examples. However, these models face problems of distributional shift problem, causal confusion, and high variance. To address these problems we propose two techniques. First, we propose the priority sampling algorithm, which biases the training sampling towards unknown observations for the model. Priority sampling employs a trade-off strategy that incentivizes the training algorithm to explore the whole dataset. Our results show uniform training on the dataset, as well as improved performance. As a second approach, we propose a model based on the theory of visual attention, called TVAnet, by which selecting relevant visual information to build an optimal environment representation. TVAnet employs two visual information selection mechanisms: spatial and feature-based attention. Spatial attention selects regions with visual encoding similar to contextual encoding, while feature-based attention selects features disentangled with useful information for routine driving. Furthermore, we encourage the model to recognize new sources of visual information by adding a bottom-up input. Results in the CoRL-2017 dataset show that our spatial attention mechanism recognizes regions relevant to the driving task. TVAnet builds disentangled features with low mutual dependence. Furthermore, our model is interpretable, facilitating the understanding of intelligent vehicle behavior. Finally, we report performance improvements over traditional end-to-end models. | |||
| Arrangement 1 | urlib.net > SDLA > Fonds > SIBGRAPI 2021 > TVAnet: a spatial... | |||
| Arrangement 2 | urlib.net > SDLA > Fonds > Full Index > TVAnet: a spatial... | |||
| doc Directory Content | access | |||
| source Directory Content | there are no files | |||
| agreement Directory Content |
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| 4. Conditions of access and use | ||||
| data URL | http://urlib.net/ibi/8JMKD3MGPEW34M/45D3C8H | |||
| zipped data URL | http://urlib.net/zip/8JMKD3MGPEW34M/45D3C8H | |||
| Language | en | |||
| Target File | 109.pdf | |||
| User Group | victor.flores@ucsp.edu.pe | |||
| Visibility | shown | |||
| Update Permission | not transferred | |||
| 5. Allied materials | ||||
| Mirror Repository | sid.inpe.br/banon/2001/03.30.15.38.24 | |||
| Next Higher Units | 8JMKD3MGPEW34M/45PQ3RS 8JMKD3MGPEW34M/4742MCS | |||
| Citing Item List | sid.inpe.br/sibgrapi/2021/11.12.11.46 117 sid.inpe.br/sibgrapi/2022/06.10.21.49 4 | |||
| Host Collection | sid.inpe.br/banon/2001/03.30.15.38 | |||
| 6. Notes | ||||
| Empty Fields | archivingpolicy archivist area callnumber contenttype copyholder copyright creatorhistory descriptionlevel dissemination edition electronicmailaddress group isbn issn label lineage mark nextedition notes numberofvolumes orcid organization pages parameterlist parentrepositories previousedition previouslowerunit progress project readergroup readpermission resumeid rightsholder schedulinginformation secondarydate secondarykey secondarymark secondarytype serieseditor session shorttitle sponsor subject tertiarymark type url volume | |||