#1. Why End-to-End Learning
The total level of self-driving can be devided into 6 levels from L0 to L5. Nowadays, the level of self-driving car has reached to L3, which still requires some participat
1.neural network:cost function
首先引入一些新的标记法:假设神经网络的training Sample有m个,每个包含一组输入x和对应的一组输出y,L表示神经网络的层数,$S_l$表示第l层的neuron的个数,$S_L$表示输出层中处理的单元数。
神经网络分为2类,即单分类神经网络和多分类神经网络,其中单分类神经网络的输出只有0或1,即$S_L=1,y=0 or 1