Reviews: Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation

Very strong paper which is reporting on a large scale AV project. As such it describes many parts of a very complex system, relying on a lot of other work and systems, but contributing by showing how it all fits together to do a new thing. The new thing is the use of importance sampling over parameters for models of human drivers in a driving simulator, in order to better estimate collision probabilities for AV controllers. This relies on a huge stack of prior work comprising: (1) a complex physical driving simulator (which brilliantly, is open sourced, and presentation of such a facility to the community would make a great publication just by itself); and (2) a parametric model of human driver behaviour based on a GAN-style imitation learner, which maps an input vector describing the scene to a prediction of other drivers actions. Paper is clearly written and structured, however for slightly dumber readers like this one I would suggest trying to add a bit more detail on exactly what are the inputs and outputs of this human driver predictor.