ItemConference Paper

End-to-End Imitation Learning for Autonomous Driving: Design and Implementation on a Custom Robotic Platform

Title
End-to-End Imitation Learning for Autonomous Driving: Design and Implementation on a Custom Robotic Platform
Creator
Roy, Riya; Saju, Akhil; Renji, Sharon; Pranathi, Sakamuri; Kandangath, Megha Rajesh; Vaahinee, B.; Jeff Ron, S.; Steve, Jaidan; Parag Jose, C.; Wang, Yong
Description
This paper presents an end-to-end imitation learning system for autonomous driving on a custom robotic vehicle. A PilotNet-inspired CNN, trained on 20 laps of Udacity Beta simulator data from three cameras, was deployed on an NVIDIA Jetson Xavier for real-time steering. The robot features a 48V, 1.5kW BLDC motor and a precision steering system using dual linear actuators. Manual override is enabled via an RC controller. The integration of deep learning with custom hardware highlights challenges in transferring simulation-trained models to real-world systems. 2025 IEEE.
Source
2025 IEEE International Conference on Vehicular Technology and Transportation System, ICVTTS 2025;
Date
01-01-2025
Publisher
Institute of Electrical and Electronics Engineers Inc.
Subject
Autonomous Vehicle; Imitation Learning; Jetson Xavier; Linear Actuators; PilotNet
Coverage
Roy R., CHRIST (Deemed to be University), Bangalore, India; Saju A., CHRIST (Deemed to be University), Bangalore, India; Renji S., CHRIST (Deemed to be University), Bangalore, India; Pranathi S., CHRIST (Deemed to be University), Bangalore, India; Kandangath M.R., CHRIST (Deemed to be University), Bangalore, India; Vaahinee B., CHRIST (Deemed to be University), Bangalore, India; Jeff Ron S., CHRIST (Deemed to be University), Bangalore, India; Steve J., CHRIST (Deemed to be University), Bangalore, India; Parag Jose C., CHRIST (Deemed to be University), Bangalore, India; Wang Y., Binghamton University, New York, United States
Rights
Restricted Access; Hardcopy may be available in the library
Relation
ISBN: 979-833156522-0;
Format
online
Language
English
Type
Conference paper

Citation

Roy, Riya; Saju, Akhil; Renji, Sharon; Pranathi, Sakamuri; Kandangath, Megha Rajesh; Vaahinee, B.; Jeff Ron, S.; Steve, Jaidan; Parag Jose, C.; Wang, Yong, “End-to-End Imitation Learning for Autonomous Driving: Design and Implementation on a Custom Robotic Platform,” CHRIST (Deemed To Be University) Institutional Repository, accessed June 18, 2026, https://archives.christuniversity.in/items/show/26145.

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