Learn to Make Decision with Small Data for Autonomous Driving: Deep Gaussian Process and Feedback Control

Algorithm 1

Overall algorithm flow.

(1)	collect data from interaction between Well-Trained Network and Torcs engine
(2)	set elements for deep GP: layer number, kernel, inducing points, etc.
(3)	train a deep GP model and save
(4)	aunch Torcs
(5) fordo
(6) reset Torcs
(7) get the initial state
(8) fordo
(9)  predict action with state using deep GP model
(10)  amend action by feedback control method
(11)  get the next state
(12)  if unsuccessful loop trip then
(13)   break
(14)  end if
(15)  if successful loop trip then
(16)   save the experience data
(17)   break
(18)  end if
(19) end for
(20)	end for
(21)	shut down Torcs