The video contains the online learning autonomous driving system in operation. Data from the system has been synchronized with the video and is shown overlaid. The actuated steering singnal is visualized as the position of a blue dot. The steering signal predicted by the system is visualized by a green circle. During autonomous operation, these two coincide. When the vehicle is controlled manually (training), the word MANUAL is displayed in the video.

The first sequence evaluates the ability of the system to stay on the road during road reconfiguration. The results of the first sequence indicate that the system primarily reacts to features on the road, not features in the surrounding area. 

The second sequence evaluates the multi-modal abilities of the system. After initial training, the vehicle follows the outer track, going straight in the two three-way junctions. By forcing the vehicle to turn right at one intersection, by means of a short application of manual control, a new mode is introduced. When the system later reaches the same intersection, the vehicle either turns or continues straight ahead depending on which of the two modes is the strongest. The ordering of the modes depends on slight variation in the approach to the junction and on noise.
The third sequence is longer, evaluating both multi-modal abilities and effects of track reconfiguration. 

Container: MP4
Codec: h264 1280x720
