5 papers
CRAFT: Counterfactual-to-Interactive Reinforcement Fine-Tuning for Driving Policies
Keyu Chen, Nanfei Ye, Yida Wang +4
Open-loop imitation learning has advanced modern autonomous driving policy architectures, but closed-loop deployment remains vulnerable to policy-induced distribution shift. Existi…
SparseDriveV2: Scoring is All You Need for End-to-End Autonomous Driving
Wenchao Sun, Xuewu Lin, Keyu Chen +4
End-to-end multi-modal planning has been widely adopted to model the uncertainty of driving behavior, typically by scoring candidate trajectories and selecting the optimal one. Exi…
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…
Fully Unified Motion Planning for End-to-End Autonomous Driving
Lin Liu, Caiyan Jia, Ziying Song +6
Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable drivi…