We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By leveraging a world model during training, the driving policy effectively mitigates covariate shift without requiring an excessive amount of training data. During end-to-end training, our policy learns how to recover from errors by aligning with states observed in human demonstrations, so that at runtime it can recover from perturbations outside the training distribution. Additionally, we introduce a novel transformer-based perception encoder that employs multi-view cross-attention and a learned scene query. We present qualitative and quantitative results, demonstrating significant improvements upon prior state of the art in closed-loop testing in the CARLA simulator, as well as showing the ability to handle perturbations in both CARLA and NVIDIA's DRIVE Sim.

The abundance of open-source code, coupled with the success of recent advances in deep learning for natural language processing, has given rise to a promising new application of machine learning to source code. In this work, we explore the use of a Siamese recurrent neural network model on Python source code to create vectors which capture the semantics of code. We evaluate the quality of embeddings by identifying which problem from a programming competition the code solves. Our model significantly outperforms a bag-of-tokens embedding, providing promising results for improving code embeddings that can be used in future software engineering tasks.