2026
TreeIRL: Safe Urban Driving with Tree Search and Inverse Reinforcement Learning
ICRA 2026poster
We present TreeIRL, a novel planner for autonomous driving that combines Monte Carlo tree search (MCTS) and inverse reinforcement learning (IRL) to achieve state-of-the-art performance in simulation and in real-world driving. The key idea is to use MCTS to find a promising set of safe candidate traj…