CorrectionPlanner: Self-Correction Planner with Reinforcement Learning in Autonomous Driving
arXiv:2603.15771v1 Announce Type: new Abstract: Autonomous driving requires safe planning, but most learning-based planners lack explicit self-correction ability: once an unsafe action is proposed, there is no mechanism to correct it. Thus, we propose CorrectionPlanner, an autoregressive planner with self-correction that models planning as motion-token generation within a propose, evaluate, and correct loop. At each planning step, the policy proposes an action, namely a motion token, and a learned collision critic predicts whether it will induce a collision […]