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EvoDrive: Pareto Evolution for Safety-Critical Autonomous Driving via Self-Improving LLM Agents
new Abstract: Generating safety-critical scenarios is essential for validating and improving autonomous driving systems, yet it inherently requires maximizing adversariality to expose failures while preserving realism. Existing methods usually manage this trade-off with handcrafted heuristics, confining generation to known priors and overlooking underexplored patterns. While recent open-ended agentic evolution can push this limit, unconstrained general agents lack strict simulator grounding...
ZAPS-DA: Zero-Phase Action Policy Smoothing with Decoupled Actor for Continuous Control in Reinforcement Learning
arXiv:2605.30612v1 Announce Type: new Abstract: Continuous control policies trained with off-policy reinforcement learning frequently exhibit high-frequency action jitter, rendering direct deployment on physical actuators impractical. Post-hoc filtering attenuates jitter but introduces phase lag; embedding smoothness penalties in the actor's loss couples them with the RL gradient and conflates reward regression with over-aggressive smoothing. We present ZAPS-DA, a framework that reduces...