CoPhy is a new RL framework that distills VLM cognition into BEV encoders, adds an auto-regressive BEV world model for action-conditioned future prediction, and optimizes policies via GRPO with dual physical-cognitive rewards, claiming SOTA on NAVSIM v1/v2.
Finetuning generative trajectory model with reinforcement learning from human feedback.arXiv e-prints, pages arXiv–2503
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Distill to Think, Foresee to Act: Cognitive-Physical Reinforcement Learning for Autonomous Driving
CoPhy is a new RL framework that distills VLM cognition into BEV encoders, adds an auto-regressive BEV world model for action-conditioned future prediction, and optimizes policies via GRPO with dual physical-cognitive rewards, claiming SOTA on NAVSIM v1/v2.