MILER: Semantic Mid-Level Representation for Sim-to-Real Reinforcement Learning in Unstructured Autonomous Driving

arXiv:2609.20747 · cs.RO, cs.LG · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-17

Updated: 2026-09-17

Comments: Evaluation video: https://www.youtube.com/watch?v=IZli3Z87URI

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reinforcement Learning — 16× in this paper · explained in 4 episodes
• Steering — 14× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 9× in this paper · explained in 2 episodes
• Alignment — 4× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 4× in this paper · explained in 2 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Proximal Policy Optimization — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 5 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• GPT-4 Technical Report
• Proximal Policy Optimization Algorithms
• Dynamics-Decoupled Trajectory Alignment for Sim-to-Real Transfer in Reinforcement Learning for Autonomous Driving
• TADPO: Reinforcement Learning Goes Off-road
• WROOM: An Autonomous Driving Approach for Off-Road Navigation
• Agile Autonomous Driving using End-to-End Deep Imitation Learning
• Evaluating Vision Transformer Methods for Deep Reinforcement Learning from Pixels

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving