2 citations · 2 across the 6 of their papers we have counts for
4 papers · 1 filter
Plans Are Not Executions: Adapting Frozen World-Model Planners to Controller-Induced Execution Shift
Danqi Zhao, Keyu Chen, Wenchao Sun +6
World-model planners evaluate candidate trajectories by predicting their future consequences, implicitly relying on the plan-to-motion relationship learned during training. At depl…
ForSim: Stepwise Forward Simulation for Traffic Policy Fine-Tuning
Keyu Chen, Wenchao Sun, Hao Cheng +2
As the foundation of closed-loop training and evaluation in autonomous driving, traffic simulation still faces two fundamental challenges: covariate shift introduced by open-loop i…
RIFT: Group-Relative RL Fine-Tuning for Realistic and Controllable Traffic Simulation
Keyu Chen, Wenchao Sun, Hao Cheng +1
Achieving both realism and controllability in closed-loop traffic simulation remains a key challenge in autonomous driving. Dataset-based methods reproduce realistic trajectories b…
FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality
Keyu Chen, Yuheng Lei, Hao Cheng +3
Generating safety-critical scenarios, which are essential yet difficult to collect at scale, offers an effective method to evaluate the robustness of autonomous vehicles (AVs). Exi…