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cs.RO2026
Driving Intents Amplify Planning-Oriented Reinforcement Learning
Hengtong Lu, Victor Shea-Jay Huang, Chengmin Yang +4
Continuous-action policies trained on a single demonstrated trajectory per scene suffer from mode collapse: samples cluster around the demonstrated maneuver and the policy cannot r…
cs.RO2026
Action Emergence from Streaming Intent
Pengfei Jing, Victor Shea-Jay Huang, Hengtong Lu +3
We formalize action emergence as a target capability for end-to-end autonomous driving: the ability to generate physically feasible, semantically appropriate, and safety-compliant…