CRAFT: Counterfactual-to-Interactive Reinforcement Fine-Tuning for Driving Policies

TL;DR

CRAFT introduces an on-policy framework for autonomous driving policy fine-tuning that combines counterfactual advantages with residual correction to improve closed-loop performance and stability.

Contribution

It formulates closed-loop policy fine-tuning as proxy-residual optimization, integrating counterfactual advantages with grounded residual correction for better adaptation.

Findings

CRAFT achieves the strongest closed-loop gains on Bench2Drive.

Ablation studies validate the roles of proxy and residual correction.

CRAFT demonstrates stability and transferability across architectures.

Abstract

Open-loop imitation learning has advanced modern autonomous driving policy architectures, but closed-loop deployment remains vulnerable to policy-induced distribution shift. Existing post-training paradigms exhibit fundamental trade-offs: closed-loop RL fine-tuning provides grounded feedback from executed actions but is constrained by the sparsity of informative events, whereas counterfactual fine-tuning provides dense supervision over candidate futures but inherits bias from imperfect future estimates. We introduce Counterfactual-to-Interactive Reinforcement Fine-Tuning (CRAFT), an on-policy framework that formulates closed-loop post-training as proxy-residual optimization. CRAFT uses group-normalized counterfactual advantages as a dense proxy for real closed-loop advantages and aligns this proxy with the closed-loop world through grounded residual correction from interaction-critical events. To stabilize adaptation, CRAFT regularizes the online policy toward an EMA teacher via asymmetric KL self-distillation. Theoretically, CRAFT decomposes the real closed-loop policy gradient into proxy and residual terms under the same visited-state distribution, reducing residual variance with an aligned proxy while mitigating proxy bias through grounded residual approximation. Empirically, CRAFT achieves the strongest closed-loop gains on Bench2Drive across hierarchical planning, vision-language-action, and vocabulary-scoring architectures. Ablations, scaling behavior, stability analyses, and transfer results further validate the complementary roles of dense counterfactual proxy and grounded residual correction. Project page: https://currychen77.github.io/CRAFT.