{"paper":{"title":"Adaptive Control in Autonomous Driving via Real-Time Recurrent RL","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG","cs.NE","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Daniela Rus, Felix Resch, Julian Lemmel, M\\'onika Farsang, Radu Grosu, Ramin Hasani","submitted_at":"2026-02-02T15:41:53Z","abstract_excerpt":"We study online fine-tuning of pretrained control policies for autonomous driving using Real-Time Recurrent Reinforcement Learning (RTRRL), a memory-efficient algorithm that updates policy parameters at every time step without backpropagation through time. We extend RTRRL to support LrcSSM, a recently proposed nonlinear diagonal state-space model, and combine offline behavioral cloning with online RTRRL fine-tuning to adapt policies to distribution shifts at deployment. We validate the approach in the CarRacing simulation and on a 1:10-scale RoboRacer platform equipped with an event camera, wh"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.02236","kind":"arxiv","version":4},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2602.02236/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}