# Behavioral Cloning Models Reality Check for Autonomous Driving

arXiv: https://arxiv.org/abs/2409.07218 · HTML: https://mlsanity.com/paper/2409.07218/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Imitation and offline RL for driving, one of 13 directions in Offline RL and imitation learning from data.
- Builds on 16 of its 28 references that are in the map.
- First posted on arXiv 11 Sep 2024.

## Placed in

- Offline RL and imitation learning from data / [Imitation and offline RL for driving](https://mlsanity.com/offlinerl/imitation-and-offline-rl-for-driving/)

## Builds on (most cited first, 16 of 16)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [End-to-end Driving via Conditional Imitation Learning](https://mlsanity.com/paper/1710.02410/) (2017)
- [Exploring the Limitations of Behavior Cloning for Autonomous Driving](https://mlsanity.com/paper/1904.08980/) (2019)
- [Attention Mechanisms in Computer Vision: A Survey](https://mlsanity.com/paper/2111.07624/) (2021)
- [Variational Lossy Autoencoder](https://mlsanity.com/paper/1611.02731/) (2016)
- [SiT: Self-supervised vIsion Transformer](https://mlsanity.com/paper/2104.03602/) (2021)
- [On Offline Evaluation of Vision-based Driving Models](https://mlsanity.com/paper/1809.04843/) (2018)
- [Mind the Gap! A Study on the Transferability of Virtual vs Physical-world Testing of Autonomous Driving Systems](https://mlsanity.com/paper/2112.11255/) (2021)
- [Explaining Autonomous Driving by Learning End-to-End Visual Attention](https://mlsanity.com/paper/2006.03347/) (2020)
- [Self-Driving Car Steering Angle Prediction Based on Image Recognition](https://mlsanity.com/paper/1912.05440/) (2019)
- [HighwayLLM: Decision-Making and Navigation in Highway Driving with RL-Informed Language Model](https://mlsanity.com/paper/2405.13547/) (2024)
- [Multi-modal Experts Network for Autonomous Driving](https://mlsanity.com/paper/2009.08876/) (2020)
- [Addressing Limitations of State-Aware Imitation Learning for Autonomous Driving](https://mlsanity.com/paper/2310.20650/) (2023)
- [Self Driving RC Car using Behavioral Cloning](https://mlsanity.com/paper/1910.06734/) (2019)
- [CARNet: A Dynamic Autoencoder for Learning Latent Dynamics in Autonomous Driving Tasks](https://mlsanity.com/paper/2205.08712/) (2022)

## Built on by (most cited first, 1 of 1)

- [Mini Autonomous Car Driving based on 3D Convolutional Neural Networks](https://mlsanity.com/paper/2508.21271/) (2025)

## Abstract (arXiv)

How effective are recent advancements in autonomous vehicle perception systems when applied to real-world autonomous vehicle control? While numerous vision-based autonomous vehicle systems have been trained and evaluated in simulated environments, there is a notable lack of real-world validation for these systems. This paper addresses this gap by presenting the real-world validation of state-of-the-art perception systems that utilize Behavior Cloning (BC) for lateral control, processing raw image data to predict steering commands. The dataset was collected using a scaled research vehicle and tested on various track setups. Experimental results demonstrate that these methods predict steering angles with low error margins in real-time, indicating promising potential for real-world applications.