相关论文: WorldRFT: Latent World Model Planning with Reinfor…

Diffusion-based planners have emerged as a promising approach for human-like trajectory generation in autonomous driving. Recent works incorporate reinforcement fine-tuning to enhance the robustness of diffusion planners through…

End-to-end autonomous driving directly generates planning trajectories from raw sensor data, yet it typically relies on costly perception supervision to extract scene information. A critical research challenge arises: constructing an…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

Recent studies suggest that Reinforcement Fine-Tuning (RFT) is inherently more resilient to catastrophic forgetting than Supervised Fine-Tuning (SFT). However, whether RFT (e.g., GRPO) can effectively overcome forgetting in challenging…

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

We introduce DreamerAD, the first latent world model framework that enables efficient reinforcement learning for autonomous driving by compressing diffusion sampling from 100 steps to 1 - achieving 80x speedup while maintaining visual…

End-to-end autonomous driving systems increasingly rely on vision-centric world models to understand and predict their environment. However, a common ineffectiveness in these models is the full reconstruction of future scenes, which expends…

Recently, world models have made significant progress in enhancing end-to-end driving systems through both future situation forecasting and improved scene understanding. However, existing driving world models are typically built upon dense…

Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift. Reinforcement learning (RL) can mitigate these issues…

Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation, but their reliance on expert demonstrations limits their ability to learn from failures and perform self-corrections. Reinforcement…

Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which…

World model based reinforcement learning (RL) has emerged as a promising approach for autonomous driving, which learns a latent dynamics model and uses it to train a planning policy. To speed up the learning process, the pretrain-finetune…

Sampling-based planning algorithms like Rapidly-exploring Random Tree (RRT) are versatile in solving path planning problems. RRT* offers asymptotic optimality but requires growing the tree uniformly over the free space, which leaves room…

In autonomous driving, end-to-end planners learn scene representations from raw sensor data and utilize them to generate a motion plan or control actions. However, exclusive reliance on the current scene for motion planning may result in…

Reinforcement Learning (RL) applications in real-world scenarios must prioritize safety and reliability, which impose strict constraints on agent behavior. Model-based RL leverages predictive world models for action planning and policy…

Deploying learned control policies in real-world environments poses a fundamental challenge. When system dynamics change unexpectedly, performance degrades until models are retrained on new data. We introduce Reflexive World Models (RWM), a…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…