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end-to-end driving 1procedural simulation 1reinforcement learning 1self-play 1self-play reinforcement learning 1simulation 1traffic rule enforcement 1vision alignment 1zero-demonstration training 1zero-shot generalization 1

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cs.CV2026

TerraTransfer: Learning End-to-End Driving Policies Without Expert Demonstrations

Zikang Xiong, Weixin Li, Zhouchonghao Wu +6

The paper proposes a method to train end-to-end autonomous driving policies without expert demonstrations by pretraining a policy via self‑play in a fast vectorized simulator and t…