解决交通模拟中局部观测与全局环境不匹配问题,提升仿真真实性。
Bridging Local Observation and Global Simulation in Closed-Loop Traffic Modeling

- 通过自监督发现失败场景,构建偏好监督信号。
- 推理时重加权动作选择,使行为更符合全局上下文。
- 无需重训练基础模型,碰撞减少31.2%,违规下降33.2%。
当基于自回归交通模拟器在全局可观测的闭环环境中部署时,会出现局部到全局的上下文错配问题。在自车视角的驾驶日志中,自车拥有丰富局部观测,而周围车辆因感知限制和遮挡仅部分可见。因此,模拟器可能学习到隐藏于日志训练中的不完整上下文-动作映射,在闭环回放时暴露为异常停车、不安全交互和规则违例等不真实行为。本文提出CRAFT框架,通过自监督失败发现与偏好引导的测试时对齐缓解此问题。将基础模拟器视为全局可观测沙盒,从日志初始状态生成多样‘如果’回放以暴露上下文引发的失败。这些失败结合人类对齐的驾驶先验进行标注,并转化为偏好监督用于训练上下文偏好评估器(CPE)。推理时,CPE作为插件模块,基于完整场景上下文评分候选动作,重加权自回归解码以趋向全局一致行为。CRAFT有效缓解局部到全局上下文偏差,使碰撞减少31.2%,交通违规下降33.2%,且无需重训练基础模拟器。
原文摘要 · Abstract (English)
A local-to-global context mismatch arises when autoregressive traffic simulators trained on ego-centric driving logs are deployed in globally observable closed-loop environments. In such logs, the ego vehicle has rich local observations, while surrounding agents are only partially observed due to perception limits and occlusions. As a result, simulators may learn incomplete context--action mappings that remain hidden in log-based training but emerge during closed-loop rollouts, leading to unrealistic behaviors such as abnormal stops, unsafe interactions, and rule violations. We propose CRAFT, a Contextual pReference Alignment Framework for Traffic Simulation, to mitigate this mismatch via self-supervised failure discovery and preference-guided test-time alignment. CRAFT treats the base simulator as a globally observable sandbox, generating diverse what-if rollouts from logged initial states to expose context-induced failures. These failures are grounded with human-aligned driving priors and converted into preference supervision for training a Contextual Preference Evaluator (CPE). At inference time, CPE acts as a plug-in alignment module that scores candidate actions under complete scene context and reweights autoregressive decoding toward globally coherent behaviors. CRAFT mitigates this local-to-global contextual bias, reducing collisions by 31.2\% and traffic violations by 33.2\% without retraining the base simulator.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。