Dean Pomerleau, in his research presented in the paper "Knowledge-based Training of Artificial Neural Networks for Autonomous Robot Driving," uses a neural network to train a robotic vehicle to drive on multiple types of roads (single lane, multi-lane, dirt, etc.). A large amount of his research is devoted to (1) extrapolating multiple training scenarios from a single training experience, and (2) preserving past training diversity so that the system does not become overtrained (if, for example, it is presented with a series of right turns—it should not learn to always turn right). These issues are common in neural networks that must decide from amongst a wide variety of responses, but can be dealt with in several ways, for example by randomly shuffling the training examples, by using a numerical optimization algorithm that does not take too large steps when changing the network connections following an example, or by grouping examples in so-called mini-batches.