Drive As You Like: Multi-Head Diffusion with Reinforcement Learning for Personalized Driving

2026-10-16 · ArXiv

arXiv:2508.16947v3 Announce Type: replace-cross

Abstract: Personalized autonomous driving requires understanding the driving needs implicit in user requests. This is challenging when driving demonstrations lack style annotations and behavioral adaptation risks degrading planning quality. We propose M-Diffusion Planner with a dual-decoupling design: separating intent understanding from trajectory planning, and general planning capability learning from strategy alignment. A large language model infers driving needs and selects a strategy, which is executed by the corresponding head of a shared diffusion planner. Following imitation pretraining, strategy-specific rewards specialize individual heads without style annotations. We innovatively adapt Group Relative Policy Optimization using surrogate policy-ratio estimation and constrained head-specific updates to mitigate degradation of pretrained planning capabilities. Open-loop and closed-loop evaluations on nuPlan demonstrate distinct strategy-aligned behaviors and competitive planning performance. Further experiments assess intent-to-strategy mapping and collision risk, and analyze the effects of reward design and optimization on strategy alignment and planning quality.

原文链接：https://arxiv.org/abs/2508.16947

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