Brain-SAD: A Brain-Inspired Safe Autonomous Driving Control Framework with Dynamic Fear-Oriented Constraint on Dual-Policy

arXiv:2609.38016 · cs.AI, cs.CV, cs.NE, cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.AI, cs.CV, cs.NE, cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/cy-research-lab/Brain-SAD

Terminology

• Reinforcement Learning — 22× in this paper · explained in 4 episodes
• Collision Rate — 19× in this paper
• Success Rate — 19× in this paper
• Steering — 18× in this paper · explained in 2 episodes
• Actor — 12× in this paper · explained in 3 episodes
• Trace — 10× in this paper · explained in 2 episodes
• Safe Autonomous Driving — 8× in this paper
• Task Completion Time — 7× in this paper
• Ablation — 5× in this paper · explained in 1 episode
• Ablation study — 5× in this paper · explained in 1 episode
• Adaptability — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Objective Function — 3× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 3× in this paper · explained in 25 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Constrained Reinforcement Learning — 2× in this paper
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Knowledge Graph — 2× in this paper · explained in 7 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Contrastive Learning — 1× in this paper · explained in 5 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• Knowledge graphs — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sample Complexity — 1× in this paper · explained in 15 episodes
• Speed Limit Compliance — 1× in this paper
• Verification — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• How Does the Lagrangian Guide Safe Reinforcement Learning through Diffusion Models?

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