DriveGPT: Scaling Autoregressive Behavior Models for Driving

Autor:	Huang, Xin, Wolff, Eric M., Vernaza, Paul, Phan-Minh, Tung, Chen, Hongge, Hayden, David S., Edmonds, Mark, Pierce, Brian, Chen, Xinxin, Jacob, Pratik Elias, Chen, Xiaobai, Tairbekov, Chingiz, Agarwal, Pratik, Gao, Tianshi, Chai, Yuning, Srinivasa, Siddhartha
Rok vydání:	2024
Předmět:	Computer Science - Machine Learning Computer Science - Artificial Intelligence Computer Science - Computer Vision and Pattern Recognition Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	We present DriveGPT, a scalable behavior model for autonomous driving. We model driving as a sequential decision making task, and learn a transformer model to predict future agent states as tokens in an autoregressive fashion. We scale up our model parameters and training data by multiple orders of magnitude, enabling us to explore the scaling properties in terms of dataset size, model parameters, and compute. We evaluate DriveGPT across different scales in a planning task, through both quantitative metrics and qualitative examples including closed-loop driving in complex real-world scenarios. In a separate prediction task, DriveGPT outperforms a state-of-the-art baseline and exhibits improved performance by pretraining on a large-scale dataset, further validating the benefits of data scaling. Comment: 14 pages, 16 figures, 9 tables, and 1 video link
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2412.14415 Zobrazit plný text záznamu View this record from Arxiv