Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving
Bob Wei Mengye Ren Wenyuan Zeng Ming Liang Bin Yang Raquel Urtasun Bob Wei Mengye Ren Wenyuan Zeng Ming Liang Bin Yang Raquel Urtasun
In this paper, we propose an end-to-end self-driving network featuring a sparse attention module that learns to automatically attend to important regions of the input. The attention module specifically targets motion planning, whereas prior literature only applied attention in perception tasks. Learning an attention mask directly targeted for motion planning significantly improves the planner safe...