Distributional expert demonstrations for autonomous driving

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• generating a controlled trajectory of an autonomous driving vehicle (ADV) in a scenario, the controlled trajectory executable by the ADV to drive autonomously in the scenario;
• receiving a set of data acquired in a plurality of driving demonstrations in the scenario;
• identifying a distribution pattern of the set of data acquired, the distribution pattern indicating probabilities of driving trajectories in the scenario;
• and
• computing a similarity score based on comparisons between the controlled trajectory and the distribution pattern of the plurality of driving demonstrations.

A processing device, comprising:

• a processor;
• and
• a memory coupled to the processor and storing instructions, which when executed by the processor, cause the processor to
• generate a controlled trajectory of an autonomous driving vehicle (ADV) in a scenario, the controlled trajectory executable by the ADV to drive autonomously in the scenario;
• receive a set of data acquired in a plurality of driving demonstrations in the scenario;
• identify a distribution pattern of the set of data acquired, the distribution pattern indicating probabilities of driving trajectories in the scenario;
• and
• compute, by the processing device, a similarity score based on comparisons between the controlled trajectory and the distribution pattern of the plurality of driving demonstrations.