A hierarchical Stackelberg MARL plus continuous-motion architecture with hybrid co-training produces smoother and safer closed-loop traffic behavior than standard self-play methods.
Gameformer: Game-theoretic modeling and learning of transformer-based interactive prediction and planning for autonomous driving
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Beyond Self-Play: Hierarchical Reasoning for Continuous Motion in Closed-Loop Traffic Simulation
A hierarchical Stackelberg MARL plus continuous-motion architecture with hybrid co-training produces smoother and safer closed-loop traffic behavior than standard self-play methods.