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cs.RO2026
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…
cs.CV2026
ScenarioControl: Vision-Language Controllable Vectorized Latent Scenario Generation
Lili Gao, Yanbo Xu, William Koch +8
We introduce ScenarioControl, the first vision-language control mechanism for learned driving scenario generation. Given a text prompt or an input image, Scenario-Control synthesiz…
cs.LG2026
Constrained Group Relative Policy Optimization
Roger Girgis, Rodrigue de Schaetzen, Luke Rowe +3
Group Relative Policy Optimization (GRPO) remains the dominant critic-free approach for fine-tuning LLMs and VLMs, but its compatibility with constrained policy optimization (e.g.…