A counterfactual surprise metric, Hist-prim with query-centric feedforward prediction and Wasserstein distance, identifies interactive driving scenarios with 0.82+ Spearman correlation to a human-trained reward model.
Embedding synthetic off-policy experience for autonomous driving via zero-shot curricula,
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Surprise Potential as a Measure of Interactivity in Driving Scenarios
A counterfactual surprise metric, Hist-prim with query-centric feedforward prediction and Wasserstein distance, identifies interactive driving scenarios with 0.82+ Spearman correlation to a human-trained reward model.