Efficient Real-World Autonomous Racing via Attenuated Residual Policy Optimization
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866917338763231232 |
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| author | Trumpp, Raphael Hoornaert, Denis Theile, Mirco Caccamo, Marco |
| author_facet | Trumpp, Raphael Hoornaert, Denis Theile, Mirco Caccamo, Marco |
| contents | Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in autonomous racing, a domain that serves as a challenging benchmark for real-world DRL. However, deploying RPL-based controllers introduces system complexity and increases inference latency. We address this by introducing an extension of RPL named attenuated residual policy optimization ($α$-RPO). Unlike standard RPL, $α$-RPO yields a standalone neural policy by progressively attenuating the base policy, which initially serves to bootstrap learning. Furthermore, this mechanism enables a form of privileged learning, where the base policy is permitted to use sensor modalities not required for final deployment. We design $α$-RPO to integrate seamlessly with PPO, ensuring that the attenuated influence of the base controller is dynamically compensated during policy optimization. We evaluate $α$-RPO by building a framework for 1:10-scaled autonomous racing around it. In both simulation and zero-shot real-world transfer to Roboracer cars, $α$-RPO not only reduces system complexity but also improves driving performance compared to baselines - demonstrating its practicality for robotic deployment. Our code is available at: https://github.com/raphajaner/arpo_racing. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_12960 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Efficient Real-World Autonomous Racing via Attenuated Residual Policy Optimization Trumpp, Raphael Hoornaert, Denis Theile, Mirco Caccamo, Marco Robotics Artificial Intelligence Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in autonomous racing, a domain that serves as a challenging benchmark for real-world DRL. However, deploying RPL-based controllers introduces system complexity and increases inference latency. We address this by introducing an extension of RPL named attenuated residual policy optimization ($α$-RPO). Unlike standard RPL, $α$-RPO yields a standalone neural policy by progressively attenuating the base policy, which initially serves to bootstrap learning. Furthermore, this mechanism enables a form of privileged learning, where the base policy is permitted to use sensor modalities not required for final deployment. We design $α$-RPO to integrate seamlessly with PPO, ensuring that the attenuated influence of the base controller is dynamically compensated during policy optimization. We evaluate $α$-RPO by building a framework for 1:10-scaled autonomous racing around it. In both simulation and zero-shot real-world transfer to Roboracer cars, $α$-RPO not only reduces system complexity but also improves driving performance compared to baselines - demonstrating its practicality for robotic deployment. Our code is available at: https://github.com/raphajaner/arpo_racing. |
| title | Efficient Real-World Autonomous Racing via Attenuated Residual Policy Optimization |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2603.12960 |