Title: ReconDreamer-RL: Enhancing Reinforcement Learning via Diffusion-based Scene Reconstruction
Primary area: applications to robotics, autonomy, planning
Keywords: CV: Vision for Robotics; Autonomous Driving

Abstract: Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial simulation-to-reality (sim2real) gap. To bridge this gap, some approaches utilize scene reconstruction techniques to create photorealistic environments as a simulator. While this improves realistic sensor simulation, these methods are inherently constrained by the distribution of the training data, making it difficult to render high-quality sensor data for novel trajectories or corner case scenarios. Therefore, we propose \textit{ReconDreamer-RL}, a framework designed to integrate video diffusion priors into scene reconstruction to aid reinforcement learning, thereby enhancing end-to-end autonomous driving training. Specifically, in \textit{ReconDreamer-RL}, we introduce ReconSimulator, which combines the video diffusion prior for appearance modeling and incorporates a kinematic model for physical modeling, thereby reconstructing driving scenarios from real-world data. This narrows the sim2real gap for closed-loop evaluation and reinforcement learning. To cover more corner-case scenarios, we introduce the Dynamic Adversary Agent (DAA), which adjusts the trajectories of surrounding vehicles relative to the ego vehicle, autonomously generating corner-case traffic scenarios (e.g., cut-in). Finally, the Cousin Trajectory Generator (CTG) is proposed to address the issue of training data distribution, which is often biased toward simple straight-line movements. Experiments show that \textit{ReconDreamer-RL} improves end-to-end autonomous driving training, outperforming imitation learning methods with a 5$\times$ reduction in the Collision Ratio.