mlsanityData to 7 Oct 2026

TinyLidarNet: 2D LiDAR-based End-to-End Deep Learning Model for F1TENTH Autonomous Racing

arXiv 2410.07447 ↗First posted 9 Oct 2024cs.RO cs.AI cs.CVcited by 4

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Abstract (arXiv)

Prior research has demonstrated the effectiveness of end-to-end deep learning for robotic navigation, where the control signals are directly derived from raw sensory data. However, the majority of existing end-to-end navigation solutions are predominantly camera-based. In this paper, we introduce TinyLidarNet, a lightweight 2D LiDAR-based end-to-end deep learning model for autonomous racing. An F1TENTH vehicle using TinyLidarNet won 3rd place in the 12th F1TENTH Autonomous Grand Prix competition, demonstrating its competitive performance. We systematically analyze its performance on untrained tracks and computing requirements for real-time processing. We find that TinyLidarNet's 1D Convolutional Neural Network (CNN) based architecture significantly outperforms widely used Multi-Layer Perceptron (MLP) based architecture. In addition, we show that it can be processed in real-time on low-end micro-controller units (MCUs).

Key facts. Cited by 4 papers in the map (data through 7 Oct 2026). Builds on 16 of its 31 references that are in the map. First posted on arXiv 9 Oct 2024.

Builds on

16 of 31 references.

References · 16

  1. 2016End to End Learning for Self-Driving Carscited by 1,000
  2. 2015End-to-End Training of Deep Visuomotor Policiescited by 847
  3. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  4. 2017End-to-end Driving via Conditional Imitation Learningcited by 479
  5. 2018HG-DAgger: Interactive Imitation Learning with Human Expertscited by 245
  6. 2020TensorFlow Lite Micro: Embedded Machine Learning on TinyML Systemscited by 161
  7. 2022Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racingcited by 56
  8. 2023How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligencecited by 55
  9. 2021Efficient and Robust LiDAR-Based End-to-End Navigationcited by 22
  10. 2020The NVIDIA PilotNet Experimentscited by 15
  11. 2017DeepPicar: A Low-cost Deep Neural Network-based Autonomous Carcited by 11
  12. 2022A Benchmark Comparison of Imitation Learning-based Control Policies for Autonomous Racingcited by 11
4 more
  1. 2021Towards End-to-End Deep Learning for Autonomous Racing: On Data Collection and a Unified Architecture for Steering and Throttle Predictioncited by 7
  2. 2024Unifying F1TENTH Autonomous Racing: Survey, Methods and Benchmarkscited by 6
  3. 2021Stress Testing Autonomous Racing Overtake Maneuvers with RRTcited by 3
  4. 2022DeepPicarMicro: Applying TinyML to Autonomous Cyber Physical Systemscited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 2; 2026: 2.

4 papers.

  1. 2026Efficient Real-World Autonomous Racing via Attenuated Residual Policy Optimizationcited by 1
  2. 2025Depth Matters: Multimodal RGB-D Perception for Robust Autonomous Agentscited by 0
  3. 2025Accelerating Real-World Overtaking in F1TENTH Racing Employing Reinforcement Learning Methodscited by 0
  4. 2026Real-Time 2D LiDAR Object Detection Using Three-Frame RGB Scan Encodingcited by 0