10 papers
What Probing Reveals about Autonomous Driving: Linking Internal Prediction Errors to Ego Planning
Hyeonchang Jeon, Kyungbeom Kim, Eugene Vinitsky +1
Large-scale datasets and fast simulators have enabled improvements in driving policies that appear safe and robust, yet strong performance in nominal scenarios can still mask flawe…
EMAgnet: Parameter-Space EMA Regularization for Policy Gradient Self-Play in Large Games
Tristan Maidment, JB Lanier, Chase McDonald +5
Recent work has established that regularized policy gradient methods such as PPO, when used in self-play, can match or exceed specialized game-theoretic algorithms for solving two-…
Scaling Self-Play for End-to-End Driving
Luke Rowe, Roger Girgis, Rodrigue de Schaetzen +6
End-to-end autonomous driving models are typically trained on offline human-demonstration datasets that provide limited state coverage and often no closed-loop feedback, making the…
Human-like autonomy emerges from self-play and a pinch of human data
Daphne Cornelisse, Julian Hunt, Zixu Zhang +4
Self-play reinforcement learning has recently emerged as a way to train driving policies without any human data. It uses cheap, large-scale simulations to substitute expensive, lar…
Beyond Self-Play and Scale: A Behavior Benchmark for Generalization in Autonomous Driving
Aron Distelzweig, Faris Janjoš, Andreas Look +7
Recent Autonomous Driving (AD) works such as GigaFlow and PufferDrive have unlocked Reinforcement Learning (RL) at scale as a training strategy for driving policies. Yet such polic…
Artificial Intelligence for Modeling and Simulation of Mixed Automated and Human Traffic
Saeed Rahmani, Shiva Rasouli, Daphne Cornelisse +3
Autonomous vehicles (AVs) are now operating on public roads, which makes their testing and validation more critical than ever. Simulation offers a safe and controlled environment f…