Transfer Reinforcement Learning for Autonomous Driving
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Bibliographic record
Abstract
Reinforcement learning (RL) is an attractive way to implement high-level decision-making policies for autonomous driving, but learning directly from a real vehicle or a high-fidelity simulator is variously infeasible. We therefore consider the problem of transfer reinforcement learning and study how a policy learned in a simple environment using WiseMove can be transferred to our high-fidelity simulator, W ise M ove . WiseMove is a framework to study safety and other aspects of RL for autonomous driving. W ise M ove accurately reproduces the dynamics and software stack of our real vehicle. We find that the accurately modelled perception errors in W ise M ove contribute the most to the transfer problem. These errors, when even naively modelled in WiseMove , provide an RL policy that performs better in W ise M ove than a hand-crafted rule-based policy. Applying domain randomization to the environment in WiseMove yields an even better policy. The final RL policy reduces the failures due to perception errors from 10% to 2.75%. We also observe that the RL policy has significantly less reliance on velocity compared to the rule-based policy, having learned that its measurement is unreliable.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it