Federated learning has been widely applied in autonomous driving since it enables training a learning model among vehicles without sharing users' data. However, data from autonomous vehicles usually suffer from the non-independent-and-identically-distributed (non-IID) problem, which may cause negative effects on the convergence of the learning process. In this paper, we propose a new contrastive divergence loss to address the non-IID problem in autonomous driving by reducing the impact of divergence factors from transmitted models during the local learning process of each silo. We also analyze the effects of contrastive divergence in various autonomous driving scenarios, under multiple network infrastructures, and with different centralized/distributed learning schemes. Our intensive experiments on three datasets demonstrate that our proposed contrastive divergence loss significantly improves the performance over current state-of-the-art approaches.
@article{arxiv.2303.06305,
title = {Reducing Non-IID Effects in Federated Autonomous Driving with Contrastive Divergence Loss},
author = {Tuong Do and Binh X. Nguyen and Hien Nguyen and Erman Tjiputra and Quang D. Tran and Te-Chuan Chiu and Anh Nguyen},
journal= {arXiv preprint arXiv:2303.06305},
year = {2023}
}