待翻译：Risk-Aware Decision-Making for Autonomous Overtaking: A World Model-Based Mixture-of-Experts Framework
AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2609.00385v1 Announce Type: new Abstract: Autonomous highway overtaking demands foresighted decision-making to handle complex interactions, stochastic traffic evolution, and temporal risk accumulation. However, standard safe reinforcement learning approaches typically rely on implicit value-based risk estimations rather than explicit dynamics modeling, thereby struggling to accurately capture complex risk propagation over multi-step horizons. This limitation frequently results in behaviors that are locally safe but induce substantial latent risks in the long term. To address this, a World Model-based Risk-aware Mixture-of-Experts (WM-RMoE) framework is proposed. First, a learned latent dynamics model facilitates parallel multi-step rollouts, elevating safety assessment from the action level to the trajectory level via cumulative risk evaluation. Second, to enhance robustness under varying interaction intensities, a hierarchical gating mechanism dynamically coordinates experts across long-horizon, short-horizon, and rule-based safety modules. Furthermore, a Gaussian Mixture Model is integrated to preserve multimodal maneuvering branches, thereby mitigating the issue of behavioral mode averaging. Experimental results demonstrate that WM-RMoE significantly outperforms representative baselines in terms of safety compliance, decision stability, and generalization capability. Furthermore, benefiting from the risk-aware formulation, the proposed framework uniquely exhibits the ability to generate foresighted and semantically distinct overtaking maneuvers across diverse traffic densities.
AI 服务暂时不可用，以下为来源正文，待恢复后补全翻译。
--> [Submitted on 14 Jul 2026] Title:Risk-Aware Decision-Making for Autonomous Overtaking: A World Model-Based Mixture-of-Experts Framework View a PDF of the paper titled Risk-Aware Decision-Making for Autonomous Overtaking: A World Model-Based Mixture-of-Experts Framework, by Yongzhi Liu and 6 other authors View PDF HTML (experimental) Abstract:Autonomous highway overtaking demands foresighted decision-making to handle complex interactions, stochastic traffic evolution, and temporal risk accumulation. However, standard safe reinforcement learning approaches typically rely on implicit value-based risk estimations rather than explicit dynamics modeling, thereby struggling to accurately capture complex risk propagation over multi-step horizons. This limitation frequently results in behaviors that are locally safe but induce substantial latent risks in the long term. To address this, a World Model-based Risk-aware Mixture-of-Experts (WM-RMoE) framework is proposed. First, a learned latent dynamics model facilitates parallel multi-step rollouts, elevating safety assessment from the action level to the trajectory level via cumulative risk evaluation. Second, to enhance robustness under varying interaction intensities, a hierarchical gating mechanism dynamically coordinates experts across long-horizon, short-horizon, and rule-based safety modules. Furthermore, a Gaussian Mixture Model is integrated to preserve multimodal maneuvering branches, thereby mitigating the issue of behavioral mode averaging. Experimental results demonstrate that WM-RMoE significantly outperforms representative baselines in terms of safety compliance, decision stability, and generalization capability. Furthermore, benefiting from the risk-aware formulation, the proposed framework uniquely exhibits the ability to generate foresighted and semantically distinct overtaking maneuvers across diverse traffic densities. Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG) Cite as: arXiv:2609.00385 [cs.RO] (or arXiv:2609.00385v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.00385 arXiv-issued DOI via DataCite (pending registration) Submission history From: Yongzhi Liu [view email] [v1] Tue, 14 Jul 2026 01:42:07 UTC (4,001 KB) Full-text links: Access Paper: View a PDF of the paper titled Risk-Aware Decision-Making for Autonomous Overtaking: A World Model-Based Mixture-of-Experts Framework, by Yongzhi Liu and 6 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.AI cs.LG References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)