DreamerAD: Efficient Reinforcement Learning via Latent World Model for Autonomous Driving
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arXiv
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| Autori principali: | , , , , , , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866917376715390976 |
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| author | Yang, Pengxuan Zheng, Yupeng Qian, Deheng Xing, Zebin Zhang, Qichao Wang, Linbo Zhang, Yichen Guo, Shaoyu Xia, Zhongpu Chen, Qiang Han, Junyu Xu, Lingyun Pan, Yifeng Zhao, Dongbin |
| author_facet | Yang, Pengxuan Zheng, Yupeng Qian, Deheng Xing, Zebin Zhang, Qichao Wang, Linbo Zhang, Yichen Guo, Shaoyu Xia, Zhongpu Chen, Qiang Han, Junyu Xu, Lingyun Pan, Yifeng Zhao, Dongbin |
| contents | We introduce DreamerAD, the first latent world model framework that enables efficient reinforcement learning for autonomous driving by compressing diffusion sampling from 100 steps to 1 - achieving 80x speedup while maintaining visual interpretability. Training RL policies on real-world driving data incurs prohibitive costs and safety risks. While existing pixel-level diffusion world models enable safe imagination-based training, they suffer from multi-step diffusion inference latency (2s/frame) that prevents high-frequency RL interaction. Our approach leverages denoised latent features from video generation models through three key mechanisms: (1) shortcut forcing that reduces sampling complexity via recursive multi-resolution step compression, (2) an autoregressive dense reward model operating directly on latent representations for fine-grained credit assignment, and (3) Gaussian vocabulary sampling for GRPO that constrains exploration to physically plausible trajectories. DreamerAD achieves 87.7 EPDMS on NavSim v2, establishing state-of-the-art performance and demonstrating that latent-space RL is effective for autonomous driving. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_24587 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | DreamerAD: Efficient Reinforcement Learning via Latent World Model for Autonomous Driving Yang, Pengxuan Zheng, Yupeng Qian, Deheng Xing, Zebin Zhang, Qichao Wang, Linbo Zhang, Yichen Guo, Shaoyu Xia, Zhongpu Chen, Qiang Han, Junyu Xu, Lingyun Pan, Yifeng Zhao, Dongbin Machine Learning Robotics We introduce DreamerAD, the first latent world model framework that enables efficient reinforcement learning for autonomous driving by compressing diffusion sampling from 100 steps to 1 - achieving 80x speedup while maintaining visual interpretability. Training RL policies on real-world driving data incurs prohibitive costs and safety risks. While existing pixel-level diffusion world models enable safe imagination-based training, they suffer from multi-step diffusion inference latency (2s/frame) that prevents high-frequency RL interaction. Our approach leverages denoised latent features from video generation models through three key mechanisms: (1) shortcut forcing that reduces sampling complexity via recursive multi-resolution step compression, (2) an autoregressive dense reward model operating directly on latent representations for fine-grained credit assignment, and (3) Gaussian vocabulary sampling for GRPO that constrains exploration to physically plausible trajectories. DreamerAD achieves 87.7 EPDMS on NavSim v2, establishing state-of-the-art performance and demonstrating that latent-space RL is effective for autonomous driving. |
| title | DreamerAD: Efficient Reinforcement Learning via Latent World Model for Autonomous Driving |
| topic | Machine Learning Robotics |
| url | https://arxiv.org/abs/2603.24587 |