Lane Following on CARLA Town02 (unseen)
100Success Rate (Straight)RND
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| RNDProtocol=Few-shot adaptation, Steps=10k extrinsic-reward, Fine-tuning=Updates task policy/value/reward head only, World Model=Frozen, Intrinsic Module=Frozen2025.12 | 100 | 0 | 98.04 | 1.96 | 91.88 | 8.12 | 90 | 10 | |
| InDRiVEProtocol=Few-shot adaptation, Steps=10k extrinsic-reward, Fine-tuning=Updates task policy/value/reward head only, World Model=Frozen, Intrinsic Module=Frozen2025.12 | 99 | 1 | 92.18 | 7.82 | 95.1 | 4.9 | 88.41 | 11.59 | |
| DreamerV3Protocol=Few-shot adaptation, Steps=10k extrinsic-reward, Fine-tuning=Updates task policy/value/reward head only, World Model=Frozen, Intrinsic Module=Frozen2025.12 | 94.21 | 5.79 | 90.02 | 9.98 | 88.43 | 11.57 | 83.4 | 16.6 | |
| ICMProtocol=Few-shot adaptation, Steps=10k extrinsic-reward, Fine-tuning=Updates task policy/value/reward head only, World Model=Frozen, Intrinsic Module=Frozen2025.12 | 89.47 | 10.53 | 80.21 | 19.79 | 78.47 | 21.53 | 70.19 | 29.81 |