arXiv:2607. 06957v1 Announce Type: cross Abstract: Realistic and diverse traffic simulation is essential to autonomous driving development.
arXiv:2606. 31209v1 Announce Type: new Abstract: Interactive traffic simulation is a vital world model for autonomous driving.
arXiv:2603. 28963v2 Announce Type: replace-cross Abstract: Simulation with realistic traffic agents is essential for validating autonomous driving systems.
The paper introduces Flow Matching Policy Optimization with Mirror Descent and Entropy Constraints (FMER), a reinforcement learning framework that uses ODE-based flow matching to overcome limitations of SDE-based diffusion policies. FMER derives an analytic entropy objective to correct density distortion from a tanh transformation, establishes that minimizing an advantage-weighted conditional flow matching loss serves as a simulation-free surrogate for policy mirror descent, and dynamically tunes the mirror descent temperature to enforce a robust trust region. Experiments show FMER outperforms baselines on the sparse-reward FrankaKitchen task while remaining competitive on dense-reward MuJoCo benchmarks.
arXiv:2606. 06423v1 Announce Type: cross Abstract: Safety-critical traffic scenario generation is essential for evaluating autonomous driving systems under rare but high-risk interactions.
arXiv:2606. 06219v1 Announce Type: cross Abstract: End-to-end autonomous driving models often struggle to balance multi-modal maneuver generation with real-time inference constraints.
arXiv:2606. 31844v1 Announce Type: cross Abstract: A local-to-global context mismatch arises when autoregressive traffic simulators trained on ego-centric driving logs are deployed in globally observable closed-loop environments.
arXiv:2606. 03678v1 Announce Type: new Abstract: Generating safety-critical scenarios is essential for validating and improving autonomous driving systems, yet it inherently requires maximizing adversariality to expose failures while preserving realism.
End-to-end autonomous driving has achieved state-of-the-art performance on benchmarks and real-world deployments. Its standard training recipe, however, is expensive across all existing paradigms: imi...
TerraTransfer++ demonstrates a demonstration‑free, end‑to‑end autonomous driving framework that leverages self‑play in vectorized simulators to pretrain a policy. The method distills self‑play rollouts into a flow‑matching trajectory teacher and trains lightweight adapters on a frozen vision backbone, using action KL divergence, a batch‑relational low‑rank loss, and trajectory‑matching loss. The resulting closed‑loop policy surpasses all published imitation‑based methods on the HUGSim benchmark, while the planner achieves state‑of‑the‑art performance on NAVSIM navhard and navtest without any human demonstrations.
arXiv:2408.15538v4 Announce Type: replace Abstract: While modern Autonomous Vehicle (AV) systems can develop reliable driving policies under regular traffic conditions, they frequently struggle with...
SHRED is a framework that trains vehicles, pedestrians, and cyclists through large‑scale heterogeneous self‑play from random initialization, without using expert demonstrations or logged trajectories. By combining type‑specific dynamics, procedural scenario generation, and per‑agent randomization, SHRED allows diverse, realistic behaviors to emerge through closed‑loop interaction. In benchmarks such as the Waymo Open Sim Agents Challenge and InterPlan, SHRED outperforms demonstration‑free baselines and prior self‑play methods, showing that heterogeneity in self‑play improves both traffic realism and planning performance.