Pictura: Perspective-View Self-Play at Scale for Driving
Self-play in simulation produces robust driving policies at scale. Demonstrations of such behavior have been made using privileged vectorized observations such as exact poses and velocities, even for occluded agents. This assumes that perception is solved and introduces a representation gap with the partial observation of a deployed agent driving from the perspective view of egocentric cameras. A common fix, distilling the privileged policy into a camera-input student, leaves the student imitating decisions its own view cannot justify. Instead, we establish perspective-view self-play as a practical training regime. We introduce Pictura, a GPU-accelerated multi-agent driving simulator that...
| Authors | Yuan Yin, Elias Ramzi, Marc Lafon et al. |
|---|---|
| Primary category | cs.CV |
| Published | 28 July 2026 |
| Last updated at source | 28 July 2026 |
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