Zhen-Hong Guo

Reward Design for Vision-Assisted Autonomous Driving in MetaDrive: From Scalar Rewards to Event-Triggered Visual Guidance

Visual feedback can characterize traffic interactions, yet a plausible visual score may not promote task completion. This paper examines this mismatch in a MetaDrive intersection task governed by state-based Proximal Policy Optimization (PPO). With matched 1.8-million-step training, a distilled scalar visual reward rai...