← 研踪 PaperTrailarXiv:2611.07516 · v1
Training-Independent Validation of a Learning-Based Controller for Stunt Maneuvers
首次提交 2026-11-05 14:25
版本更新 2026-11-05 14:25
雷达观测 2026-11-06 11:06
摘要
Learned controllers for vehicle maneuvers are usually validated under the conditions and objective used to train them, where they appear highly reliable, yet the parameters that change on real roads are often not those the model was trained on. We argue that validation must be independent of training: it should vary physical parameters that training kept fixed and use acceptance criteria absent from the training objective. A learning-based control policy, G-Maneuver, with 90.11% success is tested for stunt-level maneuvers. A looser terminal-heading score ranked the worst setting as the best. Because real stunt tests are safety-critical, a simulation-to-reality-to-simulation (Sim2Real2Sim) loop uses the simulation to select safe zones for real-vehicle trials with 16.9% acceptance. Automotive safety analysis frameworks are used to identify parameters for validation using coverage tests. We demonstrated that the kinematic stunt-driving indicators, namely heading change, sideslip, and speed-normalized yaw rate, match between simulation and the real world, while force and roll indicators do not, which identifies the indicators that can support safe deployment. A video of the experiments is available at https://youtu.be/dN1Oes8pNIo.
作者备注：9 pages, 7 figures, 2 tables. Video: https://youtu.be/dN1Oes8pNIo
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v1 · 2026-11-05 14:25 · 最新观测版本
Training-Independent Validation of a Learning-Based Controller for Stunt Maneuvers
Learned controllers for vehicle maneuvers are usually validated under the conditions and objective used to train them, where they appear highly reliable, yet the parameters that change on real roads are often not those the model was trained on. We argue that validation must be independent of training: it should vary physical parameters that training kept fixed and use acceptance criteria absent from the training objective. A learning-based control policy, G-Maneuver, with 90.11% success is tested for stunt-level maneuvers. A looser terminal-heading score ranked the worst setting as the best. Because real stunt tests are safety-critical, a simulation-to-reality-to-simulation (Sim2Real2Sim) loop uses the simulation to select safe zones for real-vehicle trials with 16.9% acceptance. Automotive safety analysis frameworks are used to identify parameters for validation using coverage tests. We demonstrated that the kinematic stunt-driving indicators, namely heading change, sideslip, and speed-normalized yaw rate, match between simulation and the real world, while force and roll indicators do not, which identifies the indicators that can support safe deployment. A video of the experiments is available at https://youtu.be/dN1Oes8pNIo.
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