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Rodrigue De Schaetzen

rodrigue.deschaetzen@mila.quebec
Doctorat - UdeM
Superviseur⋅e principal⋅e
Liam Paull
Sujets de recherche
Navigation robotique autonome
Robotique
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GitHub

Publications

Scaling Self-Play for End-to-End Driving
Luke Rowe
Roger Girgis
Rodrigue De Schaetzen
Daphne Cornelisse
Alaap Grandhi
Felix Heide
Eugene Vinitsky
Christopher Pal
Liam Paull
End-to-end autonomous driving models are typically trained on offline human-demonstration datasets that provide limited state coverage and o… (voir plus)ften no closed-loop feedback, making them prone to compounding errors when deployed in closed-loop and brittle to long-tail agent interactions. To overcome these limitations, we propose an alternative strategy for training end-to-end driving models: large-scale self-play directly from pixels in simulation. While prior self-play approaches have shown promising transfer to real-world driving, they typically assume vectorized Bird's-Eye-View (BEV) observations that are incompatible with end-to-end policies operating directly on sensor observations. To this end, we introduce Gigapixel, a high-throughput batched driving simulator with perspective rendering, enabling scalable self-play directly from pixel observations. Rather than targeting compute-costly photorealistic sensor simulation, Gigapixel renders a simplified bounding-box world that preserves essential scene structure while achieving throughput at 50k agent steps per second. Since direct pixel-space self-play RL is prohibitively sample-inefficient at end-to-end model scale, we propose self-play DAgger training: we train pixel-based policies in self-play via on-policy distillation from a privileged RL teacher. To bridge the sim-to-real gap, we subsequently transfer the self-play trained policies to real-world sensor data through lightweight perception adaptation. Policies trained in Gigapixel and adapted to real-world sensor data achieve competitive performance on the HUGSIM and NAVSIM-v2 benchmarks without human trajectory supervision. Moreover, scaling self-play training yields proportional gains in policy performance, establishing self-play as a practical and scalable strategy for training end-to-end models.
2026-06-16
arXiv (prépublication)
doi.org
arxiv.org
Constrained Group Relative Policy Optimization
Roger Girgis
Rodrigue De Schaetzen
Luke Rowe
Azalee Robitaille
Christopher Pal
Liam Paull
2026-02-04
arXiv (prépublication)
doi.org
arxiv.org
Poutine: Vision-Language-Trajectory Pre-Training and Reinforcement Learning Post-Training Enable Robust End-to-End Autonomous Driving
Luke Rowe
Rodrigue De Schaetzen
Roger Girgis
Christopher Pal
Liam Paull
We present Poutine, a 3B-parameter vision-language model (VLM) tailored for end-to-end autonomous driving in long-tail driving scenarios. Po… (voir plus)utine is trained in two stages. To obtain strong base driving capabilities, we train Poutine-Base in a self-supervised vision-language-trajectory (VLT) next-token prediction fashion on 83 hours of CoVLA nominal driving and 11 hours of Waymo long-tail driving. Accompanying language annotations are auto-generated with a 72B-parameter VLM. Poutine is obtained by fine-tuning Poutine-Base with Group Relative Policy Optimization (GRPO) using less than 500 preference-labeled frames from the Waymo validation set. We show that both VLT pretraining and RL fine-tuning are critical to attain strong driving performance in the long-tail. Poutine-Base achieves a rater-feedback score (RFS) of 8.12 on the validation set, nearly matching Waymo's expert ground-truth RFS. The final Poutine model achieves an RFS of 7.99 on the official Waymo test set, placing 1st in the 2025 Waymo Vision-Based End-to-End Driving Challenge by a significant margin. These results highlight the promise of scalable VLT pre-training and lightweight RL fine-tuning to enable robust and generalizable autonomy.
2025-06-11
ArXiv (prépublication)
doi.org
arxiv.org