EvaDrive: Evolutionary Adversarial Policy Optimization for End-to-End Autonomous Driving
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2025
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| author | Jiao, Siwen Qian, Kangan Ye, Hao Zhong, Yang Luo, Ziang Jiang, Sicong Huang, Zilin Fang, Yangyi Miao, Jinyu Fu, Zheng Wang, Yunlong Jiang, Kun Yang, Diange Fan, Rui Peng, Baoyun |
| author_facet | Jiao, Siwen Qian, Kangan Ye, Hao Zhong, Yang Luo, Ziang Jiang, Sicong Huang, Zilin Fang, Yangyi Miao, Jinyu Fu, Zheng Wang, Yunlong Jiang, Kun Yang, Diange Fan, Rui Peng, Baoyun |
| contents | Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory generation from quality assessment, preventing iterative refinement essential for planning, while reinforcement learning methods collapse multi-dimensional preferences into scalar rewards, obscuring critical trade-offs and yielding scalarization bias.To overcome these issues, we present EvaDrive, a novel multi-objective reinforcement learning framework that establishes genuine closed-loop co-evolution between trajectory generation and evaluation via adversarial optimization. EvaDrive frames trajectory planning as a multi-round adversarial game. In this game, a hierarchical generator continuously proposes candidate paths by combining autoregressive intent modeling for temporal causality with diffusion-based refinement for spatial flexibility. These proposals are then rigorously assessed by a trainable multi-objective critic that explicitly preserves diverse preference structures without collapsing them into a single scalarization bias.This adversarial interplay, guided by a Pareto frontier selection mechanism, enables iterative multi-round refinement, effectively escaping local optima while preserving trajectory diversity.Extensive experiments on NAVSIM and Bench2Drive benchmarks demonstrate SOTA performance, achieving 94.9 PDMS on NAVSIM v1 (surpassing DiffusionDrive by 6.8, DriveSuprim by 5.0, and TrajHF by 0.9) and 64.96 Driving Score on Bench2Drive. EvaDrive generates diverse driving styles via dynamic weighting without external preference data, introducing a closed-loop adversarial framework for human-like iterative decision-making, offering a novel scalarization-free trajectory optimization approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_09158 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | EvaDrive: Evolutionary Adversarial Policy Optimization for End-to-End Autonomous Driving Jiao, Siwen Qian, Kangan Ye, Hao Zhong, Yang Luo, Ziang Jiang, Sicong Huang, Zilin Fang, Yangyi Miao, Jinyu Fu, Zheng Wang, Yunlong Jiang, Kun Yang, Diange Fan, Rui Peng, Baoyun Machine Learning Artificial Intelligence Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory generation from quality assessment, preventing iterative refinement essential for planning, while reinforcement learning methods collapse multi-dimensional preferences into scalar rewards, obscuring critical trade-offs and yielding scalarization bias.To overcome these issues, we present EvaDrive, a novel multi-objective reinforcement learning framework that establishes genuine closed-loop co-evolution between trajectory generation and evaluation via adversarial optimization. EvaDrive frames trajectory planning as a multi-round adversarial game. In this game, a hierarchical generator continuously proposes candidate paths by combining autoregressive intent modeling for temporal causality with diffusion-based refinement for spatial flexibility. These proposals are then rigorously assessed by a trainable multi-objective critic that explicitly preserves diverse preference structures without collapsing them into a single scalarization bias.This adversarial interplay, guided by a Pareto frontier selection mechanism, enables iterative multi-round refinement, effectively escaping local optima while preserving trajectory diversity.Extensive experiments on NAVSIM and Bench2Drive benchmarks demonstrate SOTA performance, achieving 94.9 PDMS on NAVSIM v1 (surpassing DiffusionDrive by 6.8, DriveSuprim by 5.0, and TrajHF by 0.9) and 64.96 Driving Score on Bench2Drive. EvaDrive generates diverse driving styles via dynamic weighting without external preference data, introducing a closed-loop adversarial framework for human-like iterative decision-making, offering a novel scalarization-free trajectory optimization approach. |
| title | EvaDrive: Evolutionary Adversarial Policy Optimization for End-to-End Autonomous Driving |
| topic | Machine Learning Artificial Intelligence |
| url | https://arxiv.org/abs/2508.09158 |