相关论文: Driving Beyond Privilege: Distilling Dense-Reward …

We propose a novel knowledge distillation framework for effectively teaching a sensorimotor student agent to drive from the supervision of a privileged teacher agent. Current distillation for sensorimotor agents methods tend to result in…

In settings where labeled verifiable training data is the binding constraint, each checked example should be allocated to the model and reward density where it is most informative. We identify a reward-density principle that governs this…

Reinforcement Learning (RL) has the potential to surpass human performance in driving without needing any expert supervision. Despite its promise, the state-of-the-art in sensorimotor self-driving is dominated by imitation learning methods…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

Recent years have witnessed remarkable progress in world models, which primarily aim to capture the spatio-temporal correlations between an agent's actions and the evolving environment. However, existing approaches often suffer from tight…

Many continuous control problems can be formulated as sparse-reward reinforcement learning (RL) tasks. In principle, online RL methods can automatically explore the state space to solve each new task. However, discovering sequences of…

In this paper, we propose Sparse Imitation Reinforcement Learning (SIRL), a hybrid end-to-end control policy that combines the sparse expert driving knowledge with reinforcement learning (RL) policy for autonomous driving (AD) task in CARLA…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

Reinforcement learning (RL) agents often face challenges in balancing exploration and exploitation, particularly in environments where sparse or dense rewards bias learning. Biological systems, such as human toddlers, naturally navigate…

Distilling large language models (LLMs) typically involves transferring the teacher model's responses through supervised fine-tuning (SFT). However, this approach neglects the potential to distill both data (output content) and reward…

Model-based reinforcement learning (MBRL) can reduce interaction cost for autonomous driving by learning a predictive world model, but it typically still depends on task-specific rewards that are difficult to design and often brittle under…

Rewards play an essential role in reinforcement learning. In contrast to rule-based game environments with well-defined reward functions, complex real-world robotic applications, such as contact-rich manipulation, lack explicit and…

Controlled text generation tasks such as unsupervised text style transfer have increasingly adopted the use of Reinforcement Learning (RL). A major challenge in applying RL to such tasks is the sparse reward, which is available only after…

In autonomous driving, traditional Computer Vision (CV) agents often struggle in unfamiliar situations due to biases in the training data. Deep Reinforcement Learning (DRL) agents address this by learning from experience and maximizing…

Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We argue that it is crucial to automate the…

On-policy distillation is an efficient alternative to reinforcement learning, offering dense token-level training signals. However, its reliance on a stronger external teacher has driven recent work on on-policy self-distillation, where the…

Knowledge distillation leverages a teacher model to improve the training of a student model. A persistent challenge is that a better teacher does not always yield a better student, to which a common mitigation is to use additional…

Autonomous-driving research has recently embraced deep Reinforcement Learning (RL) as a promising framework for data-driven decision making, yet a clear picture of how these algorithms are currently employed, benchmarked and evaluated is…

Long-term temporal credit assignment is an important challenge in deep reinforcement learning (RL). It refers to the ability of the agent to attribute actions to consequences that may occur after a long time interval. Existing…

Reinforcement learning can solve decision-making problems and train an agent to behave in an environment according to a predesigned reward function. However, such an approach becomes very problematic if the reward is too sparse and so the…