Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving

• URL: http://arxiv.org/abs/2604.03497v1
• Date: Fri, 03 Apr 2026 22:41:45 GMT
• Title: Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving
• Abstract summary: This paper presents Sim2Real-AD, a modular framework for zero-shot sim-to-real transfer of VLM-guided RL policies to full-scale vehicles.<n>To the best of our knowledge, this study is among the first to demonstrate zero-shot closed-loop deployment of a CARLA-trained VLM-guided RL policy on a full-scale real vehicle.
• Score: 13.424737198969247
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations and simulator-coupled action semantics that are unavailable on physical platforms. This paper presents Sim2Real-AD, a modular framework for zero-shot sim-to-real transfer of CARLA-trained VLM-guided RL policies to full-scale vehicles without any real-world RL training data. The framework decomposes the transfer problem into four components: a Geometric Observation Bridge (GOB) that converts monocular front-view images into simulator-compatible bird's-eye-view (BEV) observations, a Physics-Aware Action Mapping (PAM) that translates policy outputs into platform-agnostic physical commands, a Two-Phase Progressive Training (TPT) strategy that stabilizes adaptation by separating action-space and observation-space transfer, and a Real-time Deployment Pipeline (RDP) that integrates perception, policy inference, control conversion, and safety monitoring for closed-loop execution. Simulation experiments show that the framework preserves the relative performance ordering of representative RL algorithms across different reward paradigms and validate the contribution of each module. Zero-shot deployment on a full-scale Ford E-Transit achieves success rates of 90%, 80%, and 75% in car-following, obstacle avoidance, and stop-sign interaction scenarios, respectively. To the best of our knowledge, this study is among the first to demonstrate zero-shot closed-loop deployment of a CARLA-trained VLM-guided RL policy on a full-scale real vehicle without any real-world RL training data. The demo video and code are available at: https://zilin-huang.github.io/Sim2Real-AD-website/.

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