Collision Avoidance on CARLA Town01 (seen)
1SR (Straight)InDRiVE
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| InDRiVEmode=Few-shot adaptation, extrinsic_reward_steps=10k, fine-tuning=task policy/value head only, frozen_components=pretrained world model and intrinsic module2025.12 | 1 | 0 | 1 | 0 | 0.9574 | 0.0426 | 0.8999 | 0.1001 | |
| RNDmode=Few-shot adaptation, extrinsic_reward_steps=10k, fine-tuning=task policy/value head only, frozen_components=pretrained world model and intrinsic module2025.12 | 1 | 0 | 1 | 0 | 0.9254 | 0.0745 | 0.82 | 0.18 | |
| DreamerV3mode=Few-shot adaptation, extrinsic_reward_steps=10k, fine-tuning=task policy/value head only, frozen_components=pretrained world model and intrinsic module2025.12 | 1 | 0 | 0.983 | 0.017 | 0.8868 | 0.1132 | 0.8148 | 0.1852 | |
| ICMmode=Few-shot adaptation, extrinsic_reward_steps=10k, fine-tuning=task policy/value head only, frozen_components=pretrained world model and intrinsic module2025.12 | 0.9802 | 0.0198 | 0.9547 | 0.0453 | 0.9 | 0.1 | 0.8832 | 0.1168 |