{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-interactive-driving-policies-via","title":"Learning Interactive Driving Policies via Data-driven Simulation","arxiv_id":"2111.12137","date":"2021-11-23","proceeding":null,"authors":["Tsun-Hsuan Wang","Alexander Amini","Wilko Schwarting","Igor Gilitschenski","Sertac Karaman","Daniela Rus"],"abstract":"Data-driven simulators promise high data-efficiency for driving policy learning. When used for modelling interactions, this data-efficiency becomes a bottleneck: Small underlying datasets often lack interesting and challenging edge cases for learning interactive driving. We address this challenge by proposing a simulation method that uses in-painted ado vehicles for learning robust driving policies. Thus, our approach can be used to learn policies that involve multi-agent interactions and allows for training via state-of-the-art policy learning methods. We evaluate the approach for learning standard interaction scenarios in driving. In extensive experiments, our work demonstrates that the resulting policies can be directly transferred to a full-scale autonomous vehicle without making use of any traditional sim-to-real transfer techniques such as domain randomization.","url_abs":"https://arxiv.org/abs/2111.12137v1","url_pdf":"https://arxiv.org/pdf/2111.12137v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"learning-interactive-driving-policies-via","repo_url":"https://github.com/vista-simulator/vista","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"NOASSERTION"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2111.12137","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}