MRIC 🛣️

Model-Based Reinforcement-Imitation Learning with Mixture-of-Codebooks for Autonomous Driving Simulation

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✨ Highlights

• Gradient Highway + Inter-Agent Pathways for efficient credit assignment
• Dual Regularisation: open-loop IL stabilisation & model-based RL safety constraints
• Mixture-of-Codebooks with temporal abstraction to capture multi-modal behaviour
• State-of-the-art performance on the large-scale Waymo Open Motion Dataset

Note: Full source code, trained models and experiment scripts will be released once the paper is formally accepted.

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📦 Repository Structure

mric/
├─ docs/
│  ├─ figs/            # architecture.png
│  └─ gifs/            # demo_lane_change.gif, …
├─ mric/               # core library (to be released)
├─ examples/           # training / evaluation scripts
└─ README.md

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🔧 Installation

# Clone with submodules if any
git clone --recursive https://github.com/your-org/mric.git
cd mric

# (Optional) Create environment
conda create -n mric python=3.10
conda activate mric

# Install dependencies
pip install -r requirements.txt

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🚀 Quick Start

# 1. Download Waymo Open Motion Dataset (WOMD) and set DATA_ROOT
export DATA_ROOT=/path/to/womd

# 2. Train MRIC
python examples/train_mric.py --config configs/mric_womd.yaml

# 3. Evaluate
python examples/eval_mric.py --checkpoint checkpoints/mric_best.pth

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🎥 Demos

Scenario	GIF Path
Highway lane-change	docs/gifs/demo_lane_change.gif
Urban intersection	docs/gifs/demo_intersection.gif
Emergent behaviour	docs/gifs/demo_emergent.gif

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🖼️ Framework Figure

The high-resolution framework diagram lives at docs/figs/architecture.png and is displayed above.

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📄 Citation

@article{he2024mric,
  title   = {MRIC: Model-Based Reinforcement-Imitation Learning with Mixture-of-Codebooks for Autonomous Driving Simulation},
  author  = {Baotian He and Yibing Li},
  journal = {arXiv preprint arXiv:2404.18464},
  year    = {2024}
}

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🤝 Contributing

We welcome pull requests once the codebase is public.
Before opening an issue, please search existing ones and read CONTRIBUTING.md.

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📫 Contact

For questions, please open a GitHub issue or email
Baotian He · hbt18@mails.tsinghua.edu.cn
Yibing Li · liyb@tsinghua.edu.cn

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© 2024-present The MRIC Authors. Released under the MIT License.