BridgeSim: Unveiling the OL-CL Gap in End-to-End Autonomous Driving

Seth Z. Zhao, Luobin Wang, Hongwei Ruan +13

Open-loop (OL) to closed-loop (CL) gap (OL-CL gap) exists when OL-pretrained policies scoring high in OL evaluations fail to transfer effectively in closed-loop (CL) deployment. In…