Systems and method are provided for controlling a vehicle. In one embodiment, a computer-implemented method includes: training an autonomous driving agent is provided, the method including the steps of: extracting, by a processor, information from demonstrations of driving behavior using a neural network; transmitting the extracted information to a generator module; transmitting a real environmental state associated with the demonstrations of driving behavior to a discriminator module; generating, by a processor, environmental state interpretations from the extracted information using the generator module; training, by a processor, the discriminator module to better determine whether the generated environmental state interpretations correspond to the real environmental state, whilst training, by a processor, the generator module to generate an improved environmental state interpretation that the discriminator determines to correspond to the real environmental state; and recovering, bya processor, a reward map using generated environmental state interpretations from the trained generator module.
UNSUPERVISED LEARNING AGENTS FOR AUTONOMOUS DRIVING APPLICATIONS