Risk-Aware Decision-Making for Autonomous Overtaking: A World Model-Based Mixture-of-Experts Framework
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-st...
| Authors | Yongzhi Liu, Sunan Zhang, Jinchang Xu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 July 2026 |
| Last updated at source | 14 July 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.