Reducing expert-student asymmetries in visibility, uncertainty, and route specification enables a new TransFuser v6 policy that reaches 95 DS on Bench2Drive and more than doubles prior scores on Longest6 v2 and Town13.
Carl: Learning scalable planning policies with simple rewards
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LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving
Reducing expert-student asymmetries in visibility, uncertainty, and route specification enables a new TransFuser v6 policy that reaches 95 DS on Bench2Drive and more than doubles prior scores on Longest6 v2 and Town13.