World Models as Adversaries: Multi-Agent Self-Play Fine-Tuning for Robust Motion Planning

• URL: http://arxiv.org/abs/2607.10630v1
• Date: Sun, 12 Jul 2026 07:44:16 GMT
• Title: World Models as Adversaries: Multi-Agent Self-Play Fine-Tuning for Robust Motion Planning
• Abstract summary: Adversa World Modeling is a theoretically grounded multi-agent self-play fine-tuning framework.<n>In inner minimization, the planner's predictive world model is converted into a role-conditioned adversary that learns sparse, scene-adaptive attack coalitions.<n> Experiments on the nuPlan and InterPlan benchmarks demonstrate that our method generates transferable adversarial interactions.
• Score: 60.88859946006306
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Robust motion planning in dense traffic requires autonomous vehicles to interact in rare and safety-critical scenarios that are underrepresented in naturalistic driving data. Although adversarial training offers a feasible solution, existing methods often rely on external scenario generators, heuristic perturbations, or simulator-heavy rollouts, which makes them difficult to integrate with modern autoregressive planners. Here, we cast adversarially robust planner learning as a constrained min-max game and propose Adversarial World Modeling (AWM), a theoretically grounded multi-agent self-play fine-tuning framework. Since solving the exact game is intractable, AWM introduces a principled decoupled solver. In the inner minimization, the planner's predictive world model is converted into a role-conditioned adversary that learns sparse, scene-adaptive attack coalitions via counterfactual credit assignment. In the outer maximization, the ego planner optimizes a regret-aware robust best response against the frozen AWM, utilizing tail-risk weighting and reference-anchored trust regions to improve hard-case recovery while preserving nominal driving behavior. Experiments on the nuPlan and InterPlan benchmarks demonstrate that our method generates transferable adversarial interactions and yields a robust planner that achieves competitive closed-loop performance in both nominal and highly interactive long-tail scenarios. Theoretical analysis justifies the decoupled solver and the main optimization components.

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