{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/imitation-learning-for-generalizable-self","title":"Imitation Learning for Generalizable Self-driving Policy with Sim-to-real Transfer","arxiv_id":"2206.10797","date":"2022-06-22","proceeding":null,"authors":["Zoltán Lőrincz","Márton Szemenyei","Róbert Moni"],"abstract":"Imitation Learning uses the demonstrations of an expert to uncover the optimal policy and it is suitable for real-world robotics tasks as well. In this case, however, the training of the agent is carried out in a simulation environment due to safety, economic and time constraints. Later, the agent is applied in the real-life domain using sim-to-real methods. In this paper, we apply Imitation Learning methods that solve a robotics task in a simulated environment and use transfer learning to apply these solutions in the real-world environment. Our task is set in the Duckietown environment, where the robotic agent has to follow the right lane based on the input images of a single forward-facing camera. We present three Imitation Learning and two sim-to-real methods capable of achieving this task. A detailed comparison is provided on these techniques to highlight their advantages and disadvantages.","url_abs":"https://arxiv.org/abs/2206.10797v1","url_pdf":"https://arxiv.org/pdf/2206.10797v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"imitation-learning-for-generalizable-self","repo_url":"https://github.com/lzoltan35/duckietown_imitation_learning","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"transfer-learning","task_name":"Transfer Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2206.10797","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}