LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866917402585858048 |
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| author | Nguyen, Long Fauth, Micha Jaeger, Bernhard Dauner, Daniel Igl, Maximilian Geiger, Andreas Chitta, Kashyap |
| author_facet | Nguyen, Long Fauth, Micha Jaeger, Bernhard Dauner, Daniel Igl, Maximilian Geiger, Andreas Chitta, Kashyap |
| contents | Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between privileged expert demonstrations and sensor-based student observations can limit the effectiveness of imitation learning. More precisely, experts have significantly higher visibility (e.g., ignoring occlusions) and far lower uncertainty (e.g., knowing other vehicles' actions), making them difficult to imitate reliably. Furthermore, navigational intent (i.e., the route to follow) is under-specified in student models at test time via only a single target point. We demonstrate that these asymmetries can measurably limit driving performance in CARLA and offer practical interventions to address them. After careful modifications to narrow the gaps between expert and student, our TransFuser v6 (TFv6) student policy achieves a new state of the art on all major publicly available CARLA closed-loop benchmarks, reaching 95 DS on Bench2Drive and more than doubling prior performances on Longest6~v2 and Town13. Additionally, by integrating perception supervision from our dataset into a shared sim-to-real pipeline, we show consistent gains on the NAVSIM and Waymo Vision-Based End-to-End driving benchmarks. Our code, data, and models are publicly available at https://github.com/autonomousvision/lead. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_20563 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving Nguyen, Long Fauth, Micha Jaeger, Bernhard Dauner, Daniel Igl, Maximilian Geiger, Andreas Chitta, Kashyap Computer Vision and Pattern Recognition Artificial Intelligence Machine Learning Robotics Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between privileged expert demonstrations and sensor-based student observations can limit the effectiveness of imitation learning. More precisely, experts have significantly higher visibility (e.g., ignoring occlusions) and far lower uncertainty (e.g., knowing other vehicles' actions), making them difficult to imitate reliably. Furthermore, navigational intent (i.e., the route to follow) is under-specified in student models at test time via only a single target point. We demonstrate that these asymmetries can measurably limit driving performance in CARLA and offer practical interventions to address them. After careful modifications to narrow the gaps between expert and student, our TransFuser v6 (TFv6) student policy achieves a new state of the art on all major publicly available CARLA closed-loop benchmarks, reaching 95 DS on Bench2Drive and more than doubling prior performances on Longest6~v2 and Town13. Additionally, by integrating perception supervision from our dataset into a shared sim-to-real pipeline, we show consistent gains on the NAVSIM and Waymo Vision-Based End-to-End driving benchmarks. Our code, data, and models are publicly available at https://github.com/autonomousvision/lead. |
| title | LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving |
| topic | Computer Vision and Pattern Recognition Artificial Intelligence Machine Learning Robotics |
| url | https://arxiv.org/abs/2512.20563 |