🤗 Hugging Face 4d ago
RAD-2: Scaling Reinforcement Learning in a Generator-Discriminator Framework
RAD-2 combines diffusion-based trajectory generation with RL-optimized discriminator for autonomous driving motion planning. Generator produces diverse multimodal candidates while discriminator reranks by long-term driving quality, addressing stochastic instabilities and lack of corrective feedback in pure imitation learning. Decoupled design avoids applying sparse rewards directly to high-dimensional diffusion process.