Distill to Think, Foresee to Act: Cognitive-Physical Reinforcement Learning for Autonomous Driving

CoPhy distills vision-language cognition into a BEV encoder and pairs it with an auto-regressive world model for action-conditioned forecasting to enable reinforcement learning with dual physical and cognitive rewards, achieving state-of-the-art autonomous driving results.

Yang Wu, Qiang Meng, Zhaojiang Liu, Youquan Liu and 2 more

Sydney Poster Session 4, Wed, Dec 9, 5:00 PM–8:00 PM, Hall 1-4 · Published 2026