# ROAD: Responsibility-Oriented Reward Design for Reinforcement Learning in Autonomous Driving

arXiv: https://arxiv.org/abs/2505.24317 · HTML: https://mlsanity.com/paper/2505.24317/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Reinforcement learning for driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 24 of its 42 references that are in the map.
- First posted on arXiv 30 May 2025.

## Placed in

- End-to-end autonomous driving / [Reinforcement learning for driving](https://mlsanity.com/driving/reinforcement-learning-for-driving/)
- Deep reinforcement learning methods / [RL for autonomous driving and traffic](https://mlsanity.com/deeprl/rl-for-autonomous-driving-and-traffic/)

## Builds on (most cited first, 24 of 24)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Direct Preference Optimization: Your Language Model is Secretly a Reward Model](https://mlsanity.com/paper/2305.18290/) (2023)
- [Class-Balanced Loss Based on Effective Number of Samples](https://mlsanity.com/paper/1901.05555/) (2019)
- [A Survey on Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2402.00253/) (2024)
- [MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learning](https://mlsanity.com/paper/2109.12674/) (2021)
- [Drive Like a Human: Rethinking Autonomous Driving with Large Language Models](https://mlsanity.com/paper/2307.07162/) (2023)
- [RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback](https://mlsanity.com/paper/2402.03681/) (2024)
- [LingoQA: Visual Question Answering for Autonomous Driving](https://mlsanity.com/paper/2312.14115/) (2023)
- [Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios](https://mlsanity.com/paper/2212.11419/) (2022)
- [REVEAL: Retrieval-Augmented Visual-Language Pre-Training with Multi-Source Multimodal Knowledge Memory](https://mlsanity.com/paper/2212.05221/) (2022)
- [IBD: Alleviating Hallucinations in Large Vision-Language Models via Image-Biased Decoding](https://mlsanity.com/paper/2402.18476/) (2024)
- [Reward (Mis)design for Autonomous Driving](https://mlsanity.com/paper/2104.13906/) (2021)
- [Self-Introspective Decoding: Alleviating Hallucinations for Large Vision-Language Models](https://mlsanity.com/paper/2408.02032/) (2024)
- [Can Knowledge Graphs Reduce Hallucinations in LLMs? : A Survey](https://mlsanity.com/paper/2311.07914/) (2023)
- [VLM-RL: A Unified Vision Language Models and Reinforcement Learning Framework for Safe Autonomous Driving](https://mlsanity.com/paper/2412.15544/) (2024)
- [Code as Reward: Empowering Reinforcement Learning with VLMs](https://mlsanity.com/paper/2402.04764/) (2024)
- [A Large Language Model-Driven Reward Design Framework via Dynamic Feedback for Reinforcement Learning](https://mlsanity.com/paper/2410.14660/) (2024)
- [Research on Autonomous Driving Decision-making Strategies based Deep Reinforcement Learning](https://mlsanity.com/paper/2408.03084/) (2024)
- [Speaking the Language of Teamwork: LLM-Guided Credit Assignment in Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2502.03723/) (2025)
- [Trustworthy Human-AI Collaboration: Reinforcement Learning with Human Feedback and Physics Knowledge for Safe Autonomous Driving](https://mlsanity.com/paper/2409.00858/) (2024)
- [CARIL: Confidence-Aware Regression in Imitation Learning for Autonomous Driving](https://mlsanity.com/paper/2503.00783/) (2025)
- [Design of Reward Function on Reinforcement Learning for Automated Driving](https://mlsanity.com/paper/2503.16559/) (2025)

## Abstract (arXiv)

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely heavily on manual design and demonstrate limited efficacy in complex scenarios. To address this issue, this study introduces a responsibility-oriented reward function that explicitly incorporates traffic regulations into the RL framework. Specifically, we introduced a Traffic Regulation Knowledge Graph and leveraged Vision-Language Models alongside Retrieval-Augmented Generation techniques to automate reward assignment. This integration guides agents to adhere strictly to traffic laws, thus minimizing rule violations and optimizing decision-making performance in diverse driving conditions. Experimental validations demonstrate that the proposed methodology significantly improves the accuracy of assigning accident responsibilities and effectively reduces the agent's liability in traffic incidents.