TerraTransfer decouples self-play policy pretraining from vision alignment via KL divergence and low-rank loss to produce end-to-end driving policies without expert demonstrations, matching prior methods on closed-loop photorealistic scenarios.
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TerraTransfer: Learning End-to-End Driving Policies Without Expert Demonstrations
TerraTransfer decouples self-play policy pretraining from vision alignment via KL divergence and low-rank loss to produce end-to-end driving policies without expert demonstrations, matching prior methods on closed-loop photorealistic scenarios.