自己運動ダイナミクス拡張ワールドモデルによる自動運転のゼロショット車両間適応
Ego-Dynamics-Augmented World Model for Autonomous Driving with Zero-Shot Cross-Chassis Adaptation
自動運転のワールドモデルに自己運動の事前知識を組み込み、シーン予測精度を向上させるとともに、未見の車両へのゼロショット適応を実現する手法を提案した。
詳しい要約
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著者: Zhidong Wang, Jingsong Liang, Zirui Li, Zhan Chen, Han Yu, Chen Lv
分類: cs.RO
原文アブストラクト
World model (WM)-based reinforcement learning enables sample-efficient end-to-end autonomous driving learning by imagining long-horizon trajectories in latent space. However, most driving WMs operate on bird's-eye-view (BEV) representations that are inherently egocentric: the transition between consecutive frames entangles the ego vehicle's own motion with scene dynamics. As a result, the WM devotes significant capacity to recovering ego-motion from warped observations, at the cost of scene modeling fidelity and imagination accuracy. This work proposes DynaDreamer, a dynamics-augmented Dreamer-style reinforcement learning method to address this problem by augmenting the WM with an explicit ego-dynamics prior. A physics-informed ego-dynamics encoder-decoder extracts the ego-state history into a compact and identifiable context, which modulates a causal Transformer WM to condition both its prior and posterior latents. During imagination, the ego-dynamics predictor propagates this context forward to keep the ego-dynamics prior synchronized with the rollout. An information-theoretic analysis shows that conditioning on this context reduces both the predictive entropy of the observation transition and the prior--posterior Kullback--Leibler divergence, confining the WM's modeling burden to the scene dynamics beyond ego-motion. An additional benefit is zero-shot cross-chassis adaptation: the ego-dynamics context depends on identifiable chassis parameters, so that a vehicle with previously unseen dynamic characteristics can adapt the WM to the new chassis without retraining. Experiments demonstrate that DynaDreamer improves task success rates over the strongest baseline by 28% and 61% in urban and highway driving scenarios, respectively, with the advantage rising to 73% when extrapolating to unseen chassis.
