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arXiv 提交日期: 2026-04-13
📄 Abstract - Multi-ORFT: Stable Online Reinforcement Fine-Tuning for Multi-Agent Diffusion Planning in Cooperative Driving

Closed-loop cooperative driving requires planners that generate realistic multimodal multi-agent trajectories while improving safety and traffic efficiency. Existing diffusion planners can model multimodal behaviors from demonstrations, but they often exhibit weak scene consistency and remain poorly aligned with closed-loop objectives; meanwhile, stable online post-training in reactive multi-agent environments remains difficult. We present Multi-ORFT, which couples scene-conditioned diffusion pre-training with stable online reinforcement post-training. In pre-training, the planner uses inter-agent self-attention, cross-attention, and AdaLN-Zero-based scene conditioning to improve scene consistency and road adherence of joint trajectories. In post-training, we formulate a two-level MDP that exposes step-wise reverse-kernel likelihoods for online optimization, and combine dense trajectory-level rewards with variance-gated group-relative policy optimization (VG-GRPO) to stabilize training. On the WOMD closed-loop benchmark, Multi-ORFT reduces collision rate from 2.04% to 1.89% and off-road rate from 1.68% to 1.36%, while increasing average speed from 8.36 to 8.61 m/s relative to the pre-trained planner, and it outperforms strong open-source baselines including SMART-large, SMART-tiny-CLSFT, and VBD on the primary safety and efficiency metrics. These results show that coupling scene-consistent denoising with stable online diffusion-policy optimization improves the reliability of closed-loop cooperative driving.

顶级标签: multi-agents robotics reinforcement learning
详细标签: cooperative driving diffusion planning online fine-tuning multi-agent trajectories closed-loop planning 或 搜索:

Multi-ORFT:用于协同驾驶中多智能体扩散规划的稳定在线强化微调 / Multi-ORFT: Stable Online Reinforcement Fine-Tuning for Multi-Agent Diffusion Planning in Cooperative Driving


1️⃣ 一句话总结

这篇论文提出了一个名为Multi-ORFT的新方法,它通过结合场景感知的扩散模型预训练和一种稳定的在线强化学习微调技术,有效提升了自动驾驶车辆在协同驾驶中的安全性、道路合规性和通行效率。

源自 arXiv: 2604.11734