自动驾驶公司工作心得

自动驾驶公司实习心得

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框架

 

开发工具

Docker

1.按照官网安装流程即可

https://docs.docker.com/engine/install/ubuntu/

2. 初步熟悉 docker

http://www.ruanyifeng.com/blog/2018/02/docker-tutorial.html

https://www.runoob.com/docker/docker-container-connection.html

 

gdb调试

Git

1. Git 开发流程简介

https://github.com/xirong/my-git/blob/master/git-workflow-tutorial.md#%E4%B8%89%E4%BC%81%E4%B8%9A%E6%97%A5%E5%B8%B8%E5%BC%80%E5%8F%91%E6%A8%A1%E5%BC%8F%E6%8E%A2%E7%B4%A2

2. 廖雪峰git教程

https://www.liaoxuefeng.com/wiki/896043488029600

3. 深入 Git 原理

https://git-scm.com/book/zh/v2

C++相关

设计模式

 

算法相关

1. Reinforcement learning

快速review RL 常见算法: https://github.com/datawhalechina/easy-rl

• MDP
  • Good explains: https://gaoyichao.com/Xiaotu/?book=probabilistic_robotics&title=pr_chapter14
• POMDP ( https://arxiv.org/pdf/1109.2135.pdf)
  • Good explian: https://gaoyichao.com/Xiaotu/?book=probabilistic_robotics&title=pr_chapter15 
  • Offline
    • 基于点的值迭代
      • PBVI
        • 知乎简单讲解: https://zhuanlan.zhihu.com/p/168779238
        • 实现例子: https://zhuanlan.zhihu.com/p/272867881
        • (原论文: http://www.cs.cmu.edu/~ggordon/jpineau-ggordon-thrun.ijcai03.pdf)
  • Online
    • POMCP
      • 原论文: https://dspace.mit.edu/bitstream/handle/1721.1/100395/Silver_Monte-carlo.pdf?sequence=1&isAllowed=y
    • DESPOT
      • 原论文: https://proceedings.neurips.cc/paper/2013/file/c2aee86157b4a40b78132f1e71a9e6f1-Paper.pdf
• 对 机器人规划控制的不确定性 的扩展
  • 概率机器人学
    • 中文版: https://gaoyichao.com/Xiaotu//resource/refs/PR.MIT.zh.pdf
    • 英文版: https://gaoyichao.com/Xiaotu//resource/refs/PR.manuscript.pdf

 

2. Imitation Learning

• 简单入门教程  https://www.lamda.nju.edu.cn/xut/Imitation_Learning.pdf

 

3. 博弈论在自动驾驶交互的应用

 

VectorNet (https://blog.waymo.com/2020/05/vectornet.html)

• 图神经网络(GNN) (DeepGraphLibrary库)
  • GAT (Graph Attention Network https://arxiv.org/abs/1710.10903)
  • GCN(Graph Convolutional Network https://arxiv.org/abs/1609.02907)
• MLP
• 自注意力机制 

LSTM 

• Good explanation: https://colah.github.io/posts/2015-08-Understanding-LSTMs/

 

关于 MIO(Most Important Pbject) 的定义的论文→ https://hal.archives-ouvertes.fr/hal-01703415/document