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cs.RO2026
CounterPlay: Counterfactual Post-Training for Self-Play Driving Policies
Jiarong Wei, Yin Wu, Runkai He +1
Self-play in high-throughput simulators yields driving policies with robust closed-loop performance, but improvement per unit of simulation diminishes as training scales. Policies…
cs.RO2026
CoPark: Learning Reactive Parking via Self-Play
Jiarong Wei, Yanxing Chen, Sinuo Song +3
Learning a single policy that reaches a goal with high geometric precision while interacting safely with nearby agents poses conflicting objectives. Precision favors commitment to…